boofcv.abst.fiducial

Class SquareBase_to_FiducialDetector<T extends boofcv.struct.image.ImageGray<T>,Detector extends BaseDetectFiducialSquare<T>>

java.lang.Object

boofcv.abst.fiducial.FiducialDetectorPnP<T>

boofcv.abst.fiducial.SquareBase_to_FiducialDetector<T,Detector>

All Implemented Interfaces:

FiducialDetector<T>

Direct Known Subclasses:

SquareBinary_to_FiducialDetector, SquareImage_to_FiducialDetector

public abstract class SquareBase_to_FiducialDetector<T extends boofcv.struct.image.ImageGray<T>,Detector extends BaseDetectFiducialSquare<T>>
extends FiducialDetectorPnP<T>

Wrapper around BaseDetectFiducialSquare for FiducialDetector

Constructor Summary

Constructors

Constructor and Description
SquareBase_to_FiducialDetector(Detector alg)

Method Summary

Modifier and Type	Method and Description
void	detect(T input) Detects fiducials inside the 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.
Detector	getAlgorithm()
georegression.struct.shapes.Polygon2D_F64	getBounds(int which, georegression.struct.shapes.Polygon2D_F64 storage) Used to retrieve the bounds around a marker in the image.
void	getCenter(int which, georegression.struct.point.Point2D_F64 location) Return the intersection of two lines defined by opposing corners.
protected java.util.List<boofcv.struct.geo.Point2D3D>	getControl3D(int which) 3D location of control points in the fiducial reference frame
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.
long	getId(int which) If applicable, returns the ID of the fiducial found.
boofcv.struct.image.ImageType<T>	getInputType() Type of input image
java.lang.String	getMessage(int which) If applicable, returns a message associated with the fiducial.
boolean	hasMessage() If true then FiducialDetector.getMessage(int) returns a valid message
boolean	hasUniqueID() If true then FiducialDetector.getId(int) returns a valid unique number
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.
int	totalFound() The total number of fiducial found

Methods inherited from class boofcv.abst.fiducial.FiducialDetectorPnP

computeStability, getFiducialToCamera, getLensDistortion, is3D

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

getWidth

Constructor Detail

SquareBase_to_FiducialDetector

public SquareBase_to_FiducialDetector(Detector alg)

Method Detail

detect

public void detect(T input)

Description copied from interface: FiducialDetector

Detects fiducials inside the image

Parameters:

input - Input image. Not modified.

getCenter

public void getCenter(int which,
                      georegression.struct.point.Point2D_F64 location)

Return the intersection of two lines defined by opposing corners. This should also be the geometric center

Parameters:

which - Fiducial's index

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

estimatePose

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

Description copied from class: FiducialDetectorPnP

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

Overrides:

estimatePose in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<T>>

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.ImageGray<T>>

Overrides:

setLensDistortion in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<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

totalFound

public int totalFound()

Description copied from interface: FiducialDetector

The total number of fiducial found

Returns:

number of targets found

getId

public long getId(int which)

Description copied from interface: FiducialDetector

If applicable, returns the ID of the fiducial found. Call FiducialDetector.hasUniqueID() to see if this function returns a valid value.

Parameters:

which - Detected fiducial's index

Returns:

ID of the fiducial

getMessage

public java.lang.String getMessage(int which)

Description copied from interface: FiducialDetector

If applicable, returns a message associated with the fiducial. Call FiducialDetector.hasMessage() ()} to see if this function returns a valid value.

Parameters:

which - Detected fiducial's index

Returns:

Encoded message

hasUniqueID

public boolean hasUniqueID()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getId(int) returns a valid unique number

Returns:

boolean

hasMessage

public boolean hasMessage()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getMessage(int) returns a valid message

Returns:

boolean

getInputType

public boofcv.struct.image.ImageType<T> getInputType()

Description copied from interface: FiducialDetector

Type of input image

getAlgorithm

public Detector getAlgorithm()

getDetectedControl

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

Description copied from class: FiducialDetectorPnP

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

Specified by:

getDetectedControl in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<T>>

getControl3D

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

Description copied from class: FiducialDetectorPnP

3D location of control points in the fiducial reference frame

Specified by:

getControl3D in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<T>>

Returns:

3D location of control points

getBounds

public georegression.struct.shapes.Polygon2D_F64 getBounds(int which,
                                                           @Nullable
                                                           georegression.struct.shapes.Polygon2D_F64 storage)

Description copied from interface: FiducialDetector

Used to retrieve the bounds around a marker in the image. How the bounds are defined is left up the implementation. It could be a simple rectangle or it could be corner features.

Parameters:

which - Which fiducial.

storage - (Optional) Storage for markers.

Returns:

Found marker. Points are owned by the caller and will not be modified in the future.