boofcv.abst.fiducial

Class CalibrationFiducialDetector<T extends ImageGray>

java.lang.Object

boofcv.abst.fiducial.CalibrationFiducialDetector<T>

All Implemented Interfaces:

FiducialDetector<T>

public class CalibrationFiducialDetector<T extends ImageGray>
extends java.lang.Object
implements FiducialDetector<T>

Wrapper which allows a calibration target to be used like a fiducial for pose estimation. The origin of the coordinate system depends on the default for the calibration target.

Constructor Summary

Constructors

Constructor and Description
CalibrationFiducialDetector(ConfigChessboard config, java.lang.Class<T> imageType) Configure it to detect chessboard style targets
CalibrationFiducialDetector(ConfigSquareGridBinary config, java.lang.Class<T> imageType) Configure it to detect square-grid style targets
CalibrationFiducialDetector(ConfigSquareGrid config, java.lang.Class<T> imageType) Configure it to detect square-grid style targets

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.
void	detect(T input) Call to detect the fiducial inside the image.
java.util.List<Point2D_F64>	getCalibrationPoints()
CalibrationDetector	getDetector()
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
double	getWidth(int which) Returns the width of the fiducial in world units.
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

Constructor Detail

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigChessboard config,
                                   java.lang.Class<T> imageType)

Configure it to detect chessboard style targets

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigSquareGrid config,
                                   java.lang.Class<T> imageType)

Configure it to detect square-grid style targets

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigSquareGridBinary config,
                                   java.lang.Class<T> imageType)

Configure it to detect square-grid style targets

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.

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 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

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

getWidth

public double getWidth(int which)

Description copied from interface: FiducialDetector

Returns the width of the fiducial in world units. If not square then it returns a reasonable approximation. Intended for use in visualization and not precise calculations.

Specified by:

getWidth in interface FiducialDetector<T extends ImageGray>

Parameters:

which - Fiducial's index

Returns:

Fiducial's width.

getInputType

public ImageType<T> getInputType()

Description copied from interface: FiducialDetector

Type of input image

Specified by:

getInputType in interface FiducialDetector<T extends ImageGray>

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

getCalibrationPoints

public java.util.List<Point2D_F64> getCalibrationPoints()

getDetector

public CalibrationDetector getDetector()