Package boofcv.alg.fiducial.calib.ecocheck

Class ECoCheckDetector<T extends ImageGray<T>>

java.lang.Object

boofcv.alg.fiducial.calib.ecocheck.ECoCheckDetector<T>

All Implemented Interfaces:

VerbosePrint

public class ECoCheckDetector<T extends ImageGray<T>>
extends Object
implements VerbosePrint

Detects chessboard patterns with marker and grid coordinate information encoded inside of the inner white squares. Multiple unique markers can be detected and damaged/partial targets will work. If no binary patterns are found in a chessboard, then an "anonymous" pattern is returned. Anonymous chessboards are useful when trying to track distant targets. Which corners were decoded next to a binary pattern is recorded as those corners are extremely unlikely to be a false positive.

Processing steps: 1) x-corner detector. 2) find clusters of corners. 3) clusters into grids. 4) detect encoded binary data inside of grids. 5) align coordinate systems

Field Summary

Fields

Modifier and Type	Field	Description
protected ChessboardCornerClusterFinder<T>	clusterFinder	Cluster Finder
protected ChessboardCornerClusterToGrid	clusterToGrid	Cluster to grid
protected DetectChessboardCornersXPyramid<T>	detector	Chessboard corner detector
final DogArray<ECoCheckFound>	found	Found chessboard patterns
InterpolatePixelS<T>	interpolate	Used to sample the input image when "undistorting" the bit pattern
double	maxWhiteBorderFailFraction	If more than this number of points fail the test consider it a failure
protected ECoCheckUtils	utils	Common utilities for decoding ECoCheck patterns
int	whiteBorderSampleCount	Number of points along a side it will sample when trying to determine if a border is white.

Constructor Summary

Constructors

Constructor	Description
ECoCheckDetector(ECoCheckUtils utils, ConfigChessboardX config, Class<T> imageType)	Specifies configuration for detector

Method Summary

Modifier and Type	Method	Description
ImageType<T>	getImageType()	Type of input image it processes
void	process(T input)	Processes the image and searches for all chessboard patterns.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

whiteBorderSampleCount

public int whiteBorderSampleCount

Number of points along a side it will sample when trying to determine if a border is white. Disable by settings to zero.

maxWhiteBorderFailFraction

public double maxWhiteBorderFailFraction

If more than this number of points fail the test consider it a failure

utils

protected ECoCheckUtils utils

Common utilities for decoding ECoCheck patterns

detector

protected DetectChessboardCornersXPyramid<T extends ImageGray<T>> detector

Chessboard corner detector

clusterFinder

protected ChessboardCornerClusterFinder<T extends ImageGray<T>> clusterFinder

Cluster Finder

clusterToGrid

protected ChessboardCornerClusterToGrid clusterToGrid

Cluster to grid

interpolate

public InterpolatePixelS<T extends ImageGray<T>> interpolate

Used to sample the input image when "undistorting" the bit pattern

found

public final DogArray<ECoCheckFound> found

Found chessboard patterns

Constructor Details

ECoCheckDetector

public ECoCheckDetector(ECoCheckUtils utils,
 ConfigChessboardX config,
 Class<T> imageType)

Specifies configuration for detector

Method Details

process

public void process(T input)

Processes the image and searches for all chessboard patterns.

getImageType

public ImageType<T> getImageType()

Type of input image it processes

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint