Package boofcv.alg.fiducial.microqr

Class MicroQrPose3DUtils

java.lang.Object

boofcv.alg.fiducial.microqr.MicroQrPose3DUtils

public class MicroQrPose3DUtils
extends Object

Utilities when estimating the 3D pose of a Micro QR Code. Each landmark (e.g. corner on a locator pattern) is assigned an ID. Functions are provided for accessing coordinates (of each landmark by ID. 3D coordinates in marker frame have values from -1 to 1 to make it more numerically favorable for linear estimators. This scale offset is easily fixed with a multiplication after the pose has been found.

Field Summary

Fields

Modifier and Type	Field	Description
List<PointIndex2D_F64>	pixelControl
protected Point2Transform2_F64	pixelToNorm
List<Point2D3D>	point23
List<Point3D_F64>	point3D
protected Point2Transform2_F64	undistToDist

Constructor Summary

Constructors

Constructor	Description
MicroQrPose3DUtils()

Method Summary

Modifier and Type	Method	Description
List<Point2D3D>	getLandmark2D3D(MicroQrCode qr)	Returns a list of Point2D3D.
List<Point3D_F64>	getLandmark3D(int version)	Location of each corner in the QR Code's reference frame in 3D
List<PointIndex2D_F64>	getLandmarkByIndex(MicroQrCode qr)	Converts the corner observations into PointIndex2D_F64 where observations are in pixels
Point2Transform2_F64	getPixelToNorm()
void	setLensDistortion(@Nullable Point2Transform2_F64 pixelToNorm, @Nullable Point2Transform2_F64 undistToDist)	Specifies transform from pixel to normalize image coordinates

Methods inherited from class java.lang.Object

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

Field Details

pixelControl

public List<PointIndex2D_F64> pixelControl

point23

public List<Point2D3D> point23

point3D

public List<Point3D_F64> point3D

pixelToNorm

protected Point2Transform2_F64 pixelToNorm

undistToDist

protected Point2Transform2_F64 undistToDist

Constructor Details

MicroQrPose3DUtils

public MicroQrPose3DUtils()

Method Details

getLandmarkByIndex

public List<PointIndex2D_F64> getLandmarkByIndex(MicroQrCode qr)

Converts the corner observations into PointIndex2D_F64 where observations are in pixels

getLandmark2D3D

public List<Point2D3D> getLandmark2D3D(MicroQrCode qr)

Returns a list of Point2D3D. The 2D observation is the corner in normalized image coordinates. The 3D location is the location of the corner in the marker's reference frame

Parameters:

qr - The qr code

Returns:

List of corner points in marker frame and normalized image coordinates

getLandmark3D

public List<Point3D_F64> getLandmark3D(int version)

Location of each corner in the QR Code's reference frame in 3D

Parameters:

version - QR Code's version

Returns:

List. Recycled on each call

setLensDistortion

public void setLensDistortion(@Nullable
 @Nullable Point2Transform2_F64 pixelToNorm,
 @Nullable
 @Nullable Point2Transform2_F64 undistToDist)

Specifies transform from pixel to normalize image coordinates

getPixelToNorm

public Point2Transform2_F64 getPixelToNorm()