Package boofcv.abst.fiducial.calib

Class CalibrationDetectorCircleRegularGrid

java.lang.Object

boofcv.abst.fiducial.calib.CalibrationDetectorCircleRegularGrid

All Implemented Interfaces:

DetectSingleFiducialCalibration

public class CalibrationDetectorCircleRegularGrid
extends Object
implements DetectSingleFiducialCalibration

Calibration implementation of circle regular grid fiducial.

See Also:

• DetectCircleRegularGrid
• KeyPointsCircleRegularGrid

Constructor Summary

Constructors

Constructor	Description
CalibrationDetectorCircleRegularGrid(ConfigCircleRegularGrid configDet, ConfigGridDimen configGrid)	Configures the detector based on the pass in configuration class

Method Summary

Modifier and Type	Method	Description
static List<Point2D_F64>	createLayout(int numRows, int numCols, double centerDistance, double diameter)	Specifies the physical location of each point on the 2D calibration plane.
int	getColumns()
CalibrationObservation	getDetectedPoints()	Returns the set of detected points from the most recent call to DetectSingleFiducialCalibration.process(GrayF32).
DetectCircleRegularGrid<GrayF32>	getDetector()
KeyPointsCircleRegularGrid	getKeypointFinder()
List<Point2D_F64>	getLayout()	Returns the layout of the calibration points on the target
int	getRows()
double	getSpaceToDiameter()	Distance between centers to circle radius ratio
boolean	process(GrayF32 input)	Image processing for calibration target detection
void	setLensDistortion(@Nullable LensDistortionNarrowFOV distortion, int width, int height)	Explicitly handles lens distortion when detecting image features.

Methods inherited from class java.lang.Object

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

Constructor Details

CalibrationDetectorCircleRegularGrid

public CalibrationDetectorCircleRegularGrid(ConfigCircleRegularGrid configDet,
 ConfigGridDimen configGrid)

Configures the detector based on the pass in configuration class

Parameters:

configDet - Configuration for detector and target description

Method Details

process

public boolean process(GrayF32 input)

Description copied from interface: DetectSingleFiducialCalibration

Image processing for calibration target detection

Specified by:

process in interface DetectSingleFiducialCalibration

Parameters:

input - Gray scale image containing calibration target

Returns:

true if target was detected and false if not

getDetectedPoints

public CalibrationObservation getDetectedPoints()

Description copied from interface: DetectSingleFiducialCalibration

Returns the set of detected points from the most recent call to DetectSingleFiducialCalibration.process(GrayF32). Each time this function is invoked a new instance of the list and points is returned. No data reuse here.

Specified by:

getDetectedPoints in interface DetectSingleFiducialCalibration

Returns:

List of detected points in row major grid order.

getLayout

public List<Point2D_F64> getLayout()

Description copied from interface: DetectSingleFiducialCalibration

Returns the layout of the calibration points on the target

Specified by:

getLayout in interface DetectSingleFiducialCalibration

Returns:

List of calibration points

setLensDistortion

public void setLensDistortion(@Nullable
 @Nullable LensDistortionNarrowFOV distortion,
 int width,
 int height)

Description copied from interface: DetectSingleFiducialCalibration

Explicitly handles lens distortion when detecting image features. If used, features will be found in undistorted pixel coordinates

Specified by:

setLensDistortion in interface DetectSingleFiducialCalibration

createLayout

public static List<Point2D_F64> createLayout(int numRows,
 int numCols,
 double centerDistance,
 double diameter)

Specifies the physical location of each point on the 2D calibration plane. The fiducial is centered on the coordinate system

Parameters:

numRows - Number of rows

numCols - Number of columns

centerDistance - Space between each circle's center along x and y axis

Returns:

2D locations

getDetector

public DetectCircleRegularGrid<GrayF32> getDetector()

getKeypointFinder

public KeyPointsCircleRegularGrid getKeypointFinder()

getRows

public int getRows()

getColumns

public int getColumns()

getSpaceToDiameter

public double getSpaceToDiameter()

Distance between centers to circle radius ratio