boofcv.abst.fiducial

Class BaseSquare_FiducialDetector<T extends ImageGray,Detector extends BaseDetectFiducialSquare<T>>

java.lang.Object

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

All Implemented Interfaces:

FiducialDetector<T>

Direct Known Subclasses:

SquareBinary_to_FiducialDetector, SquareImage_to_FiducialDetector

public abstract class BaseSquare_FiducialDetector<T extends ImageGray,Detector extends BaseDetectFiducialSquare<T>>
extends java.lang.Object
implements FiducialDetector<T>

Wrapper around BaseDetectFiducialSquare for FiducialDetector

Constructor Summary

Constructors

Constructor and Description
BaseSquare_FiducialDetector(Detector alg)

Method Summary

Modifier and Type	Method and Description
boolean	computeStability(int which, double disturbance, FiducialStability results) Computes metrics which represents the fiducial's pose estimate stability given its current observed state.
void	detect(T input) Call to detect the fiducial inside the image.
Detector	getAlgorithm()
void	getFiducialToCamera(int which, Se3_F64 fiducialToCamera) Used to retrieve the transformation from the fiducial's reference frame to the camera's reference frame.
long	getId(int which) If applicable, returns the ID of the fiducial found.
ImageType<T>	getInputType() Type of input image
boolean	isSizeKnown() Does the fiducial have a known size? If the size is known then FiducialDetector.getWidth(int) returns a meaningful number and the location can be fully resolved.
boolean	isSupportedID() If true then the ID number feature is supported
boolean	isSupportedPose() If true then the pose estimate is supported
void	setIntrinsic(IntrinsicParameters intrinsic) Specifies the intrinsic camera parameters.
int	totalFound() The total number of targets found

Methods inherited from class java.lang.Object

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

Methods inherited from interface boofcv.abst.fiducial.FiducialDetector

getWidth

Constructor Detail

BaseSquare_FiducialDetector

public BaseSquare_FiducialDetector(Detector alg)

Method Detail

detect

public void detect(T input)

Description copied from interface: FiducialDetector

Call to detect the fiducial inside the image. Must call FiducialDetector.setIntrinsic(boofcv.struct.calib.IntrinsicParameters) first.

Specified by:

detect in interface FiducialDetector<T extends ImageGray>

Parameters:

input - Input image. Not modified.

setIntrinsic

public void setIntrinsic(IntrinsicParameters intrinsic)

Description copied from interface: FiducialDetector

Specifies the intrinsic camera parameters. Allows for the euclidean geometry of be extracted from a single image

Specified by:

setIntrinsic in interface FiducialDetector<T extends ImageGray>

Parameters:

intrinsic - The camera's intrinsic parmeters

totalFound

public int totalFound()

Description copied from interface: FiducialDetector

The total number of targets found

Specified by:

totalFound in interface FiducialDetector<T extends ImageGray>

Returns:

number of targets found

getFiducialToCamera

public void getFiducialToCamera(int which,
                                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 ImageGray>

Parameters:

which - Fiducial's index

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

getId

public long getId(int which)

Description copied from interface: FiducialDetector

If applicable, returns the ID of the fiducial found.

Specified by:

getId in interface FiducialDetector<T extends ImageGray>

Parameters:

which - Fiducial's index

Returns:

ID of the fiducial

getInputType

public ImageType<T> getInputType()

Description copied from interface: FiducialDetector

Type of input image

Specified by:

getInputType in interface FiducialDetector<T extends ImageGray>

computeStability

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

Description copied from interface: FiducialDetector

Computes metrics which represents the fiducial's pose estimate stability given its current observed state. This can be viewed as an estimate of the pose estimate's precision, but not its accuracy. These numbers are generated by perturbing landmarks (by the user provided amount) and seeing how it affects the pose estimate..

The metrics should be considered more qualitative than quantitative since exactly how this metric is computed isn't specified and can vary depending on target type of implementation type. The results could every vary each time its called, even with the the exact same inputs.

Specified by:

computeStability in interface FiducialDetector<T extends ImageGray>

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

isSupportedID

public boolean isSupportedID()

Description copied from interface: FiducialDetector

If true then the ID number feature is supported

Specified by:

isSupportedID in interface FiducialDetector<T extends ImageGray>

Returns:

true if supported or false if not

isSupportedPose

public boolean isSupportedPose()

Description copied from interface: FiducialDetector

If true then the pose estimate is supported

Specified by:

isSupportedPose in interface FiducialDetector<T extends ImageGray>

Returns:

true if supported or false if not

isSizeKnown

public boolean isSizeKnown()

Description copied from interface: FiducialDetector

Does the fiducial have a known size? If the size is known then FiducialDetector.getWidth(int) returns a meaningful number and the location can be fully resolved.

Specified by:

isSizeKnown in interface FiducialDetector<T extends ImageGray>

Returns:

true if it's size is known

getAlgorithm

public Detector getAlgorithm()