boofcv.alg.fiducial.square

Class BaseDetectFiducialSquare<T extends ImageGray>

java.lang.Object

boofcv.alg.fiducial.square.BaseDetectFiducialSquare<T>

Direct Known Subclasses:

DetectFiducialSquareBinary, DetectFiducialSquareImage, VisualizeSquareFiducial.Detector

public abstract class BaseDetectFiducialSquare<T extends ImageGray>
extends java.lang.Object

Base class for square fiducial detectors. Searches for quadrilaterals inside the image with a black border and inner contours. It then removes perspective and lens distortion from the candidate quadrilateral and rendered onto a new image. The just mentioned image is then passed on to the class which extends this one. After being processed by the extending class, the corners are rotated to match and the 3D pose of the target found. Lens distortion is removed sparsely for performance reasons.

Must call configure(boofcv.struct.calib.IntrinsicParameters, boolean) before it can process an image.

Target orientation. Corner 0 = (-r,r), 1 = (r,r) , 2 = (r,-r) , 3 = (-r,-r).

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	BaseDetectFiducialSquare.Result

Method Summary

Modifier and Type	Method and Description
void	computeTargetToWorld(Quadrilateral_F64 quad, double lengthSide, Se3_F64 targetToWorld) Given observed location of corners, compute the transform from target to world frame.
void	configure(IntrinsicParameters intrinsic, boolean cache) Specifies the image's intrinsic parameters and target size
GrayU8	getBinary()
double	getBorderWidthFraction()
FastQueue<FoundFiducial>	getFound() Returns list of found fiducials
java.lang.Class<T>	getInputType()
QuadPoseEstimator	getPoseEstimator()
BinaryPolygonDetector	getSquareDetector()
void	process(T gray) Examines the input image to detect fiducials inside of it
void	setVerbose(boolean verbose) Used to toggle on/off verbose debugging information

Methods inherited from class java.lang.Object

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

Method Detail

configure

public void configure(IntrinsicParameters intrinsic,
                      boolean cache)

Specifies the image's intrinsic parameters and target size

Parameters:

intrinsic - Intrinsic parameters for the distortion free input image

cache - If there's lens distortion should it cache the transforms? Speeds it up by about 12%. Ignored if no lens distortion

process

public void process(T gray)

Examines the input image to detect fiducials inside of it

Parameters:

gray - Undistorted input image

computeTargetToWorld

public void computeTargetToWorld(Quadrilateral_F64 quad,
                                 double lengthSide,
                                 Se3_F64 targetToWorld)

Given observed location of corners, compute the transform from target to world frame. See code comments for correct ordering of corners in quad.

Parameters:

quad - (Input) Observed location of corner points in distorted pixels. Order is important.

lengthSide - (Input) Length of a side on the square

targetToWorld - (output) transform from target to world frame.

getFound

public FastQueue<FoundFiducial> getFound()

Returns list of found fiducials

setVerbose

public void setVerbose(boolean verbose)

Used to toggle on/off verbose debugging information

Parameters:

verbose - true for verbose output

getSquareDetector

public BinaryPolygonDetector getSquareDetector()

getBinary

public GrayU8 getBinary()

getInputType

public java.lang.Class<T> getInputType()

getPoseEstimator

public QuadPoseEstimator getPoseEstimator()

getBorderWidthFraction

public double getBorderWidthFraction()