Package boofcv.abst.fiducial

Class FourPointSyntheticStability

java.lang.Object

boofcv.abst.fiducial.FourPointSyntheticStability

public class FourPointSyntheticStability
extends Object

Computes the stability for a fiducial using 4 synthetic corners that are position based on the fiducial's width and height given the current estimated marker to camera transform. The 4 corners are placed symmetrically around the marker's origin at (-w/2,-h/2) (-w/2,h/2) (w/2,h/2) (w/2,-h/2). Stability is computed by varying the projected corners in pixel coordinates then recomputing the camera to fiducial pose and seeing how much it has changed.

Field Summary

Fields

Modifier and Type	Field	Description
protected Point2Transform2_F64	normToPixel
protected Point2Transform2_F64	pixelToNorm

Constructor Summary

Constructors

Constructor	Description
FourPointSyntheticStability()

Method Summary

Modifier and Type	Method	Description
void	computeStability(Se3_F64 targetToCamera, double disturbance, FiducialStability results)	Estimate how sensitive this observation is to pixel noise
void	setShape(double width, double height)	Specifes how big the fiducial is along two axises
void	setTransforms(Point2Transform2_F64 pixelToNorm, Point2Transform2_F64 normToPixel)	Specifies how to convert to and from pixels

Methods inherited from class java.lang.Object

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

Field Details

pixelToNorm

protected Point2Transform2_F64 pixelToNorm

normToPixel

protected Point2Transform2_F64 normToPixel

Constructor Details

FourPointSyntheticStability

public FourPointSyntheticStability()

Method Details

setTransforms

public void setTransforms(Point2Transform2_F64 pixelToNorm,
 Point2Transform2_F64 normToPixel)

Specifies how to convert to and from pixels

setShape

public void setShape(double width,
 double height)

Specifes how big the fiducial is along two axises

Parameters:

width - Length along x-axis

height - Length along y-axis

computeStability

public void computeStability(Se3_F64 targetToCamera,
 double disturbance,
 FiducialStability results)

Estimate how sensitive this observation is to pixel noise

Parameters:

targetToCamera - Observed target to camera pose estimate

disturbance - How much the observation should be noised up, in pixels

results - description how how sensitive the stability estimate is