Package boofcv.abst.fiducial

Class Uchiya_to_FiducialDetector<T extends ImageGray<T>>

java.lang.Object

boofcv.abst.fiducial.FiducialDetectorPnP<T>

boofcv.abst.fiducial.Uchiya_to_FiducialDetector<T>

All Implemented Interfaces:

FiducialDetector<T>, FiducialTracker<T>

public class Uchiya_to_FiducialDetector<T extends ImageGray<T>>
extends FiducialDetectorPnP<T>
implements FiducialTracker<T>

Wrapper around UchiyaMarkerTracker for FiducialDetector. To add documents call addMarker(List)

Field Summary

Fields inherited from class boofcv.abst.fiducial.FiducialDetectorPnP

pixelToNorm

Constructor Summary

Constructors

Constructor	Description
Uchiya_to_FiducialDetector(UchiyaMarkerImageTracker<T> tracker, double markerWidth, double markerHeight, ImageType<T> imageType)

Method Summary

Modifier and Type	Method	Description
LlahDocument	addMarker(List<Point2D_F64> locations2D)	Creates a document from a set of points.
void	detect(T input)	Detects and tracks fiducials inside the image.
Polygon2D_F64	getBounds(int which, @Nullable Polygon2D_F64 storage)	Used to retrieve the bounds around a marker in the image.
void	getCenter(int which, Point2D_F64 location)	Returns where in the image the fiducial is.
protected List<Point2D3D>	getControl3D(int which)	3D location of control points in the fiducial reference frame
List<PointIndex2D_F64>	getDetectedControl(int which)	Returns a list of detected control points in the image for the specified fiducial.
long	getId(int which)	If applicable, returns the ID of the fiducial found.
ImageType<T>	getInputType()	Type of input image
LlahOperations	getLlahOperations()
String	getMessage(int which)	If applicable, returns a message associated with the fiducial.
double	getSideHeight(int which)	Height of the fiducial.
double	getSideWidth(int which)	Width of the fiducial.
DogArray<UchiyaMarkerTracker.Track>	getTracks()
double	getWidth(int which)	Returns the width of the fiducial in world units.
boolean	hasID()	If true then FiducialDetector.getId(int) returns a valid unique number
boolean	hasMessage()	If true then FiducialDetector.getMessage(int) returns a valid message
void	reset()	Removes all past history from the tracker and sets it back into its current state.
int	totalFound()	The total number of fiducial found

Methods inherited from class boofcv.abst.fiducial.FiducialDetectorPnP

computeStability, estimatePose, getFiducialToCamera, getLensDistortion, is3D, setLensDistortion

Methods inherited from class java.lang.Object

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

Methods inherited from interface boofcv.abst.fiducial.FiducialDetector

computeStability, getFiducialToCamera, getLensDistortion, is3D, setLensDistortion

Constructor Details

Uchiya_to_FiducialDetector

public Uchiya_to_FiducialDetector(UchiyaMarkerImageTracker<T> tracker,
 double markerWidth,
 double markerHeight,
 ImageType<T> imageType)

Method Details

detect

public void detect(T input)

Description copied from interface: FiducialTracker

Detects and tracks fiducials inside the image. Since it is a tracker it is assumed that a sequence of images is being processed. Order of images will matter.

Specified by:

detect in interface FiducialDetector<T extends ImageGray<T>>

Specified by:

detect in interface FiducialTracker<T extends ImageGray<T>>

Parameters:

input - Input image. Not modified.

reset

public void reset()

Description copied from interface: FiducialTracker

Removes all past history from the tracker and sets it back into its current state.

Specified by:

reset in interface FiducialTracker<T extends ImageGray<T>>

totalFound

public int totalFound()

Description copied from interface: FiducialDetector

The total number of fiducial found

Specified by:

totalFound in interface FiducialDetector<T extends ImageGray<T>>

Returns:

number of targets found

getCenter

public void getCenter(int which,
 Point2D_F64 location)

Description copied from interface: FiducialDetector

Returns where in the image the fiducial is. Typically this will be the fiducial's visual center. Note that the visual center is unlikely to be the projection of the 3D geometric center. To find the former you need to reproject it using the found fiducialToCamera.

NOTE: The reprojected center might not be the same as the location returned here.

Specified by:

getCenter in interface FiducialDetector<T extends ImageGray<T>>

Parameters:

which - Fiducial's index

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

getBounds

public Polygon2D_F64 getBounds(int which,
 @Nullable
 @Nullable Polygon2D_F64 storage)

Description copied from interface: FiducialDetector

Used to retrieve the bounds around a marker in the image. How the bounds are defined is left up the implementation. It could be a simple rectangle or it could be corner features.

Specified by:

getBounds in interface FiducialDetector<T extends ImageGray<T>>

Parameters:

which - Which fiducial.

storage - (Optional) Storage for fiducials.

Returns:

Found marker. Points are owned by the caller and will not be modified in the future.

getId

public long getId(int which)

Description copied from interface: FiducialDetector

If applicable, returns the ID of the fiducial found. Call FiducialDetector.hasID() to see if this function returns a valid value.

Specified by:

getId in interface FiducialDetector<T extends ImageGray<T>>

Parameters:

which - Detected fiducial's index

Returns:

ID of the fiducial

getMessage

public String getMessage(int which)

Description copied from interface: FiducialDetector

If applicable, returns a message associated with the fiducial. Call FiducialDetector.hasMessage() ()} to see if this function returns a valid value.

Specified by:

getMessage in interface FiducialDetector<T extends ImageGray<T>>

Parameters:

which - Detected fiducial's index

Returns:

Encoded message

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<T>>

Parameters:

which - Fiducial's index

Returns:

Fiducial's width.

getSideWidth

public double getSideWidth(int which)

Description copied from class: FiducialDetectorPnP

Width of the fiducial. used to compute stability

Specified by:

getSideWidth in class FiducialDetectorPnP<T extends ImageGray<T>>

Parameters:

which - specifies which fiducial

Returns:

the width

getSideHeight

public double getSideHeight(int which)

Description copied from class: FiducialDetectorPnP

Height of the fiducial. used to compute stability

Specified by:

getSideHeight in class FiducialDetectorPnP<T extends ImageGray<T>>

Parameters:

which - specifies which fiducial

Returns:

the height

getDetectedControl

public List<PointIndex2D_F64> getDetectedControl(int which)

Description copied from class: FiducialDetectorPnP

Returns a list of detected control points in the image for the specified fiducial. Observations will be in distorted image pixels.

Specified by:

getDetectedControl in class FiducialDetectorPnP<T extends ImageGray<T>>

getControl3D

protected List<Point2D3D> getControl3D(int which)

Description copied from class: FiducialDetectorPnP

3D location of control points in the fiducial reference frame

Specified by:

getControl3D in class FiducialDetectorPnP<T extends ImageGray<T>>

Returns:

3D location of control points

hasID

public boolean hasID()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getId(int) returns a valid unique number

Specified by:

hasID in interface FiducialDetector<T extends ImageGray<T>>

Returns:

boolean

hasMessage

public boolean hasMessage()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getMessage(int) returns a valid message

Specified by:

hasMessage in interface FiducialDetector<T extends ImageGray<T>>

Returns:

boolean

getInputType

public ImageType<T> getInputType()

Description copied from interface: FiducialDetector

Type of input image

Specified by:

getInputType in interface FiducialDetector<T extends ImageGray<T>>

addMarker

public LlahDocument addMarker(List<Point2D_F64> locations2D)

Creates a document from a set of points.

getLlahOperations

public LlahOperations getLlahOperations()

getTracks

public DogArray<UchiyaMarkerTracker.Track> getTracks()