Example Fiducial Square Binary

From BoofCV

Demonstration how to detect square binary fiducials. Square binary fiducials encode a pattern in the fiducial's center which can describe up to 4096 unique targets.

Example Code:

Concepts:

  • Fiducials
  • Pose estimation

Relevant Examples/Tutorials:

Videos

Example Code

/**
 * Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube
 * above them in the input image.
 *
 * @author Peter Abeles
 */
public class ExampleFiducialBinary {
	public static void main(String[] args) {

		String directory = UtilIO.pathExample("fiducial/binary");

		// load the lens distortion parameters and the input image
		CameraPinholeBrown param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));
		LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);

		BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");
//		BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");
//		BufferedImage input = UtilImageIO.loadImage(directory , "image0002.jpg");
		GrayF32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(GrayF32.class));

		// Detect the fiducial
		FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(
				new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
//				new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);

		detector.setLensDistortion(lensDistortion,param.width,param.height);
		detector.detect(original);

		// print the results
		Graphics2D g2 = input.createGraphics();
		Se3_F64 targetToSensor = new Se3_F64();
		Point2D_F64 locationPixel = new Point2D_F64();
		Polygon2D_F64 bounds = new Polygon2D_F64();
		for (int i = 0; i < detector.totalFound(); i++) {
			detector.getCenter(i, locationPixel);
			detector.getBounds(i, bounds);

			g2.setColor(new Color(50,50,255));
			g2.setStroke(new BasicStroke(10));
			VisualizeShapes.drawPolygon(bounds,true,1.0,g2);

			if( detector.hasID() )
				System.out.println("Target ID = "+detector.getId(i));
			if( detector.hasMessage() )
				System.out.println("Message   = "+detector.getMessage(i));
			System.out.println("2D Image Location = "+locationPixel);

			if( detector.is3D() ) {
				detector.getFiducialToCamera(i, targetToSensor);
				System.out.println("3D Location:");
				System.out.println(targetToSensor);
				VisualizeFiducial.drawCube(targetToSensor, param, detector.getWidth(i), 3, g2);
				VisualizeFiducial.drawLabelCenter(targetToSensor, param, "" + detector.getId(i), g2);
			} else {
				VisualizeFiducial.drawLabel(locationPixel, "" + detector.getId(i), g2);
			}
		}

		ShowImages.showWindow(input,"Fiducials",true);
	}
}