boofcv.abst.fiducial

Class FiducialDetectorPnP<T extends boofcv.struct.image.ImageBase<T>>

java.lang.Object

boofcv.abst.fiducial.FiducialDetectorPnP<T>

All Implemented Interfaces:

FiducialDetector<T>

Direct Known Subclasses:

CalibrationFiducialDetector, SquareBase_to_FiducialDetector

public abstract class FiducialDetectorPnP<T extends boofcv.struct.image.ImageBase<T>>
extends java.lang.Object
implements FiducialDetector<T>

Provides everything you need to convert a image based fiducial detector into one which can estimate the fiducial's pose given control points. The camera pose is found using a solution to the Pose-N-Point (PnP) problem.

Stability is computed by perturbing each control point by the user provided amount of disturbance. The largest delta for location and orientation is then found and saved.

Constructor Summary

Constructors

Constructor and Description
FiducialDetectorPnP()

Method Summary

Modifier and Type	Method and Description
boolean	computeStability(int which, double disturbance, FiducialStability results) Estimates the stability by perturbing each land mark by the specified number of pixels in the distorted image.
protected boolean	estimatePose(int which, java.util.List<boofcv.struct.geo.Point2D3D> points, georegression.struct.se.Se3_F64 fiducialToCamera) Given the mapping of 2D observations to known 3D points estimate the pose of the fiducial.
protected abstract java.util.List<boofcv.struct.geo.Point2D3D>	getControl3D(int which) 3D location of control points in the fiducial reference frame
abstract java.util.List<boofcv.struct.geo.PointIndex2D_F64>	getDetectedControl(int which) Returns a list of detected control points in the image for the specified fiducial.
boolean	getFiducialToCamera(int which, georegression.struct.se.Se3_F64 fiducialToCamera) Used to retrieve the transformation from the fiducial's reference frame to the camera's reference frame.
boofcv.alg.distort.LensDistortionNarrowFOV	getLensDistortion() Returns the intrinsic parameters that it
boolean	is3D() If true then 3D information is available for the fiducial.
void	setLensDistortion(boofcv.alg.distort.LensDistortionNarrowFOV distortion, int width, int height) Specifies how to remove lens distortion from the input image and how to convert pixels into normalized image coordinates.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface boofcv.abst.fiducial.FiducialDetector

detect, getBounds, getCenter, getId, getInputType, getMessage, getWidth, hasMessage, hasUniqueID, totalFound

Constructor Detail

FiducialDetectorPnP

public FiducialDetectorPnP()

Method Detail

computeStability

public boolean computeStability(int which,
                                double disturbance,
                                FiducialStability results)

Estimates the stability by perturbing each land mark by the specified number of pixels in the distorted image.

Specified by:

computeStability in interface FiducialDetector<T extends boofcv.struct.image.ImageBase<T>>

Parameters:

which - Index of which fiducial the stability is being requested from

disturbance - Amount of the applied disturbance, in pixels. Try 0.25

results - (output) Storage for stability metrics.

Returns:

true if successful or false if it failed for some reason

setLensDistortion

public void setLensDistortion(boofcv.alg.distort.LensDistortionNarrowFOV distortion,
                              int width,
                              int height)

Description copied from interface: FiducialDetector

Specifies how to remove lens distortion from the input image and how to convert pixels into normalized image coordinates.

Specified by:

setLensDistortion in interface FiducialDetector<T extends boofcv.struct.image.ImageBase<T>>

Parameters:

distortion - Lens distortion model. null if you want to remove a lens distortion model that had previously been set.

width - Input image's width.

height - Input image's height

getLensDistortion

public boofcv.alg.distort.LensDistortionNarrowFOV getLensDistortion()

Description copied from interface: FiducialDetector

Returns the intrinsic parameters that it

Specified by:

getLensDistortion in interface FiducialDetector<T extends boofcv.struct.image.ImageBase<T>>

Returns:

intrinsic parameters

getFiducialToCamera

public boolean getFiducialToCamera(int which,
                                   georegression.struct.se.Se3_F64 fiducialToCamera)

Description copied from interface: FiducialDetector

Used to retrieve the transformation from the fiducial's reference frame to the camera's reference frame.

Specified by:

getFiducialToCamera in interface FiducialDetector<T extends boofcv.struct.image.ImageBase<T>>

Parameters:

which - Fiducial's index

fiducialToCamera - (output) Storage for the transform. modified.

Returns:

true if could estimate the location or false if it couldn't

estimatePose

protected boolean estimatePose(int which,
                               java.util.List<boofcv.struct.geo.Point2D3D> points,
                               georegression.struct.se.Se3_F64 fiducialToCamera)

Given the mapping of 2D observations to known 3D points estimate the pose of the fiducial. This solves the P-n-P problem.

getDetectedControl

public abstract java.util.List<boofcv.struct.geo.PointIndex2D_F64> getDetectedControl(int which)

Returns a list of detected control points in the image for the specified fiducial. Observations will be in distorted image pixels.

getControl3D

protected abstract java.util.List<boofcv.struct.geo.Point2D3D> getControl3D(int which)

3D location of control points in the fiducial reference frame

Returns:

3D location of control points

is3D

public boolean is3D()

Description copied from interface: FiducialDetector

If true then 3D information is available for the fiducial. In general a len distortion model must be provided by invoking FiducialDetector.setLensDistortion(LensDistortionNarrowFOV,int,int). The following functions are then enabled:

1. FiducialDetector.computeStability(int, double, boofcv.abst.fiducial.FiducialStability)
2. FiducialDetector.getFiducialToCamera(int, georegression.struct.se.Se3_F64)

Specified by:

is3D in interface FiducialDetector<T extends boofcv.struct.image.ImageBase<T>>

Returns: