boofcv.alg.fiducial.calib

Class DetectFiducialSquareGrid<T extends boofcv.struct.image.ImageGray<T>>

java.lang.Object

boofcv.alg.fiducial.calib.DetectFiducialSquareGrid<T>

public class DetectFiducialSquareGrid<T extends boofcv.struct.image.ImageGray<T>>
extends java.lang.Object

A fiducial composed of BaseDetectFiducialSquare intended for use in calibration. It allows parts of the fiducial to be visible and uniquely determined across multiple cameras. The algorithm simply looks for the expected fiducials in an image and saves the corners that they appear at. Does not check to see if the ordering is correct. If the same fiducial appears multiple times that fiducial is ignored. Only one grid fiducial is expected to be visible at any time. The user must provide a set of fiducial ID numbers. Each unique numbers corresponds to an expected fiducial. The first number in the list refers to the fiducial in the top left corner (minus X and positive Y) in the fiducial's frame. The other elements are added in a row-major order. Example of a grid of square binary fiducials. Any square fiducial can be used, including those with images inside.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DetectFiducialSquareGrid.Detection A detected inner fiducial.

Constructor Summary

Constructors

Constructor and Description
DetectFiducialSquareGrid(int numRows, int numCols, long[] numbers, BaseDetectFiducialSquare<T> detector) Configures the fiducial detector.

Method Summary

Modifier and Type	Method and Description
boolean	detect(T input) Searches for the fiducial inside the image.
java.util.List<DetectFiducialSquareGrid.Detection>	getDetections()
BaseDetectFiducialSquare<T>	getDetector()

Methods inherited from class java.lang.Object

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

Constructor Detail

DetectFiducialSquareGrid

public DetectFiducialSquareGrid(int numRows,
                                int numCols,
                                long[] numbers,
                                BaseDetectFiducialSquare<T> detector)

Configures the fiducial detector.

Parameters:

numRows - Number of rows in the grid

numCols - Number of columns in the grd

numbers - The fiducial ID numbers its expected to see. Order matters.

detector - Fiducial detector

Method Detail

detect

public boolean detect(T input)

Searches for the fiducial inside the image. If at least a partial match is found true is returned.

Parameters:

input - Input image

Returns:

true if at least one of the component fiducials is detected. False otherwise

getDetections

public java.util.List<DetectFiducialSquareGrid.Detection> getDetections()

getDetector

public BaseDetectFiducialSquare<T> getDetector()