boofcv.abst.fiducial

Interface FiducialDetector<T extends ImageBase>

All Known Implementing Classes:

BaseSquare_FiducialDetector, CalibrationFiducialDetector, SquareBinary_to_FiducialDetector, SquareImage_to_FiducialDetector

public interface FiducialDetector<T extends ImageBase>

Interface for detecting fiducials and estimating their 6-DOF pose. The camera must be calibrated by specifying IntrinsicParameters. When one or more fiducials are detected their IDs and pose are returned.

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.
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 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

Method Detail

detect

void detect(T input)

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

Parameters:

input - Input image. Not modified.

computeStability

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

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.

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

void setIntrinsic(IntrinsicParameters intrinsic)

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

Parameters:

intrinsic - The camera's intrinsic parmeters

totalFound

int totalFound()

The total number of targets found

Returns:

number of targets found

getFiducialToCamera

void getFiducialToCamera(int which,
                         Se3_F64 fiducialToCamera)

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

Parameters:

which - Fiducial's index

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

getId

long getId(int which)

If applicable, returns the ID of the fiducial found.

Parameters:

which - Fiducial's index

Returns:

ID of the fiducial

getWidth

double getWidth(int which)

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.

Parameters:

which - Fiducial's index

Returns:

Fiducial's width.

getInputType

ImageType<T> getInputType()

Type of input image

isSupportedID

boolean isSupportedID()

If true then the ID number feature is supported

Returns:

true if supported or false if not

isSupportedPose

boolean isSupportedPose()

If true then the pose estimate is supported

Returns:

true if supported or false if not

isSizeKnown

boolean isSizeKnown()

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

Returns:

true if it's size is known