Package boofcv.abst.fiducial.calib

Class CalibrationDetectorSquareGrid

java.lang.Object

boofcv.abst.fiducial.calib.CalibrationDetectorSquareGrid

All Implemented Interfaces:

DetectSingleFiducialCalibration

public class CalibrationDetectorSquareGrid
extends Object
implements DetectSingleFiducialCalibration

Implementation of DetectSingleFiducialCalibration for square grid target types.

Constructor Summary

Constructors

Constructor	Description
CalibrationDetectorSquareGrid(ConfigSquareGrid configDet, ConfigGridDimen configDimen)

Method Summary

Modifier and Type	Method	Description
static List<Point2D_F64>	createLayout(int numRows, int numCols, double squareWidth, double spaceWidth)	Creates a target that is composed of squares.
DetectSquareGridFiducial<GrayF32>	getAlgorithm()
CalibrationObservation	getDetectedPoints()	Returns the set of detected points from the most recent call to DetectSingleFiducialCalibration.process(GrayF32).
int	getGridColumns()	Returns number of columns in the grid
int	getGridRows()	Returns number of rows in the grid
List<Point2D_F64>	getLayout()	Returns the layout of the calibration points on the target
int	getPointColumns()	Returns number of columns in calibration point grid
int	getPointRows()	Returns number of rows in calibration point grid
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

CalibrationDetectorSquareGrid

public CalibrationDetectorSquareGrid(ConfigSquareGrid configDet,
 ConfigGridDimen configDimen)

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

createLayout

public static List<Point2D_F64> createLayout(int numRows,
 int numCols,
 double squareWidth,
 double spaceWidth)

Creates a target that is composed of squares. The squares are spaced out and each corner provides a calibration point.

Parameters:

numRows - Number of rows in calibration target. Must be odd.

numCols - Number of column in each calibration target. Must be odd.

squareWidth - How wide each square is. Units are target dependent.

spaceWidth - Distance between the sides on each square. Units are target dependent.

Returns:

Target description

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

getAlgorithm

public DetectSquareGridFiducial<GrayF32> getAlgorithm()

getGridRows

public int getGridRows()

Returns number of rows in the grid

Returns:

number of rows

getGridColumns

public int getGridColumns()

Returns number of columns in the grid

Returns:

number of columns

getPointRows

public int getPointRows()

Returns number of rows in calibration point grid

Returns:

number of rows

getPointColumns

public int getPointColumns()

Returns number of columns in calibration point grid

Returns:

number of columns