Example Fiducial Square Binary - Revision history

Peter at 22:42, 17 January 2022

2022-01-17T22:42:06Z

← Older revision		Revision as of 22:42, 17 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.39/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		**
	* Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube		* Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube
	* above them in the input image.		* above them in the input image.
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	// load the lens distortion parameters and the input image		// load the lens distortion parameters and the input image
	CameraPinholeBrown param = CalibrationIO.load(new File(directory, "intrinsic.yaml"));		CameraPinholeBrown param = CalibrationIO.load(new File(directory, "intrinsic.yaml"));
	~~LensDistortionNarrowFOV~~ lensDistortion = new LensDistortionBrown(param);		var lensDistortion = new LensDistortionBrown(param);

	BufferedImage input = UtilImageIO.~~loadImage~~(directory, "image0000.jpg");		BufferedImage input = UtilImageIO.loadImageNotNull(directory, "image0000.jpg");
	// BufferedImage input = UtilImageIO.~~loadImage~~(directory, "image0001.jpg");		// BufferedImage input = UtilImageIO.loadImageNotNull(directory, "image0001.jpg");
	// BufferedImage input = UtilImageIO.~~loadImage~~(directory, "image0002.jpg");		// BufferedImage input = UtilImageIO.loadImageNotNull(directory, "image0002.jpg");
	GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));		GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));

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	// print the results		// print the results
	Graphics2D g2 = input.createGraphics();		Graphics2D g2 = input.createGraphics();
	~~Se3_F64~~ targetToSensor = new Se3_F64();		var targetToSensor = new Se3_F64();
	~~Point2D_F64~~ locationPixel = new Point2D_F64();		var locationPixel = new Point2D_F64();
	~~Polygon2D_F64~~ bounds = new Polygon2D_F64();		var bounds = new Polygon2D_F64();
	for (int i = 0; i < detector.totalFound(); i++) {		for (int i = 0; i < detector.totalFound(); i++) {
	detector.getCenter(i, locationPixel);		detector.getCenter(i, locationPixel);

Peter at 03:15, 9 October 2021

2021-10-09T03:15:28Z

← Older revision		Revision as of 03:15, 9 October 2021
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	Relevant Examples/Tutorials:		Relevant Examples/Tutorials:
	* [[Tutorial_Fiducials\|Tutorial Fiducials]]		* [[Tutorial_Fiducials\|Tutorial Fiducials]]
			* [[Example_Fiducial_Square_Hamming\|Example Fiducial Square Hamming]]
	* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]		* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]
	* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]		* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]

Peter at 03:08, 9 October 2021

2021-10-09T03:08:00Z

← Older revision		Revision as of 03:08, 9 October 2021
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.39/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	* Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube		* Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube
	* above them in the input image.		* above them in the input image.
			*
			* These markers can have issues with noise and you might want to consider using ExampleFiducialHamming instead.
	*		*
	* @author Peter Abeles		* @author Peter Abeles

Peter at 18:03, 12 July 2021

2021-07-12T18:03:26Z

← Older revision		Revision as of 18:03, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:

Peter at 02:00, 22 December 2020

2020-12-22T02:00:46Z

← Older revision		Revision as of 02:00, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleFiducialBinary {		public class ExampleFiducialBinary {
	public static void main(String[] args) {		public static void main( String[] args ) {

	String directory = UtilIO.pathExample("fiducial/binary");		String directory = UtilIO.pathExample("fiducial/binary");

	// load the lens distortion parameters and the input image		// load the lens distortion parameters and the input image
	CameraPinholeBrown param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));		CameraPinholeBrown param = CalibrationIO.load(new File(directory, "intrinsic.yaml"));
	LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);		LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);

	BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");		BufferedImage input = UtilImageIO.loadImage(directory, "image0000.jpg");
	// BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");		// BufferedImage input = UtilImageIO.loadImage(directory, "image0001.jpg");
	// BufferedImage input = UtilImageIO.loadImage(directory , "image0002.jpg");		// BufferedImage input = UtilImageIO.loadImage(directory, "image0002.jpg");
	GrayF32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(GrayF32.class));		GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));

	// Detect the fiducial		// Detect the fiducial
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	// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);		// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);

	detector.setLensDistortion(lensDistortion,param.width,param.height);		detector.setLensDistortion(lensDistortion, param.width, param.height);
	detector.detect(original);		detector.detect(original);

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	detector.getBounds(i, bounds);		detector.getBounds(i, bounds);

	g2.setColor(new Color(50,50,255));		g2.setColor(new Color(50, 50, 255));
	g2.setStroke(new BasicStroke(10));		g2.setStroke(new BasicStroke(10));
	VisualizeShapes.drawPolygon(bounds,true,1.0,g2);		VisualizeShapes.drawPolygon(bounds, true, 1.0, g2);

	if( detector.hasID() )		if (detector.hasID())
	System.out.println("Target ID = "+detector.getId(i));		System.out.println("Target ID = " + detector.getId(i));
	if( detector.hasMessage() )		if (detector.hasMessage())
	System.out.println("Message = "+detector.getMessage(i));		System.out.println("Message = " + detector.getMessage(i));
	System.out.println("2D Image Location = "+locationPixel);		System.out.println("2D Image Location = " + locationPixel);

	if( detector.is3D() ) {		if (detector.is3D()) {
	detector.getFiducialToCamera(i, targetToSensor);		detector.getFiducialToCamera(i, targetToSensor);
	System.out.println("3D Location:");		System.out.println("3D Location:");
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	}		}

	ShowImages.showWindow(input,"Fiducials",true);		ShowImages.showWindow(input, "Fiducials", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 13:50, 15 March 2019

2019-03-15T13:50:41Z

← Older revision		Revision as of 13:50, 15 March 2019
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	// load the lens distortion parameters and the input image		// load the lens distortion parameters and the input image
	~~CameraPinholeRadial~~ param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));		CameraPinholeBrown param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));
	LensDistortionNarrowFOV lensDistortion = new ~~LensDistortionRadialTangential~~(param);		LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);

	BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");		BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");

Peter at 03:56, 27 December 2018

2018-12-27T03:56:47Z

← Older revision		Revision as of 03:56, 27 December 2018
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	VisualizeShapes.drawPolygon(bounds,true,1.0,g2);		VisualizeShapes.drawPolygon(bounds,true,1.0,g2);

	if( detector.~~hasUniqueID~~() )		if( detector.hasID() )
	System.out.println("Target ID = "+detector.getId(i));		System.out.println("Target ID = "+detector.getId(i));
	if( detector.hasMessage() )		if( detector.hasMessage() )

Peter at 03:06, 19 March 2018

2018-03-19T03:06:21Z

← Older revision		Revision as of 03:06, 19 March 2018
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);		// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);

	detector.setLensDistortion(lensDistortion);		detector.setLensDistortion(lensDistortion,param.width,param.height);
	detector.detect(original);		detector.detect(original);

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	Se3_F64 targetToSensor = new Se3_F64();		Se3_F64 targetToSensor = new Se3_F64();
	Point2D_F64 locationPixel = new Point2D_F64();		Point2D_F64 locationPixel = new Point2D_F64();
			Polygon2D_F64 bounds = new Polygon2D_F64();
	for (int i = 0; i < detector.totalFound(); i++) {		for (int i = 0; i < detector.totalFound(); i++) {
	detector.~~getImageLocation~~(i, locationPixel);		detector.getCenter(i, locationPixel);
			detector.getBounds(i, bounds);

			g2.setColor(new Color(50,50,255));
			g2.setStroke(new BasicStroke(10));
			VisualizeShapes.drawPolygon(bounds,true,1.0,g2);

	if( detector.hasUniqueID() )		if( detector.hasUniqueID() )
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	ShowImages.showWindow(input,"Fiducials",true);		ShowImages.showWindow(input,"Fiducials",true);

	}		}
	}		}

	</syntaxhighlight>		</syntaxhighlight>

Peter at 05:55, 20 January 2018

2018-01-20T05:55:11Z

← Older revision		Revision as of 05:55, 20 January 2018
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	// Detect the fiducial		// Detect the fiducial
	FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(		FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(
	new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.~~LOCAL_SQUARE~~, 10), GrayF32.class);		new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
	// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);		// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);

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	}		}
	}		}

	</syntaxhighlight>		</syntaxhighlight>

Peter at 23:23, 1 December 2016

2016-12-01T23:23:06Z

← Older revision		Revision as of 23:23, 1 December 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/fiducial/ExampleFiducialBinary.java ExampleFiducialBinary.java]

	Concepts:		Concepts:
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	* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]		* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]
	* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]		* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]

	~~Relevant Applets:~~
	* [[Applet Fiducials\| Applet Fiducials]]

	Videos		Videos
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	// load the lens distortion parameters and the input image		// load the lens distortion parameters and the input image
	~~IntrinsicParameters~~ param = ~~UtilIO~~.~~loadXML~~(directory , "intrinsic.~~xml~~");		CameraPinholeRadial param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));
			LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(param);

	BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");		BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");
	// BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");		// BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");
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	// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);		// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);

	detector.~~setIntrinsic~~(~~param~~);		detector.setLensDistortion(lensDistortion);

	detector.detect(original);		detector.detect(original);

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	Graphics2D g2 = input.createGraphics();		Graphics2D g2 = input.createGraphics();
	Se3_F64 targetToSensor = new Se3_F64();		Se3_F64 targetToSensor = new Se3_F64();
			Point2D_F64 locationPixel = new Point2D_F64();
	for (int i = 0; i < detector.totalFound(); i++) {		for (int i = 0; i < detector.totalFound(); i++) {
	System.out.println("Target ID = "+detector.getId(i));		detector.getImageLocation(i, locationPixel);
	detector.~~getFiducialToCamera~~(~~i, targetToSensor~~);
	System.out.println("~~Location:~~");		if( detector.hasUniqueID() )
	System.out.println(~~targetToSensor~~);		System.out.println("Target ID = "+detector.getId(i));
			if( detector.hasMessage() )
			System.out.println("Message = "+detector.getMessage(i));
			System.out.println("2D Image Location = "+locationPixel);

	VisualizeFiducial.drawCube(targetToSensor,param,detector.getWidth(i), 3, g2);		if( detector.is3D() ) {
	VisualizeFiducial.drawLabelCenter(targetToSensor,param,""+detector.getId(i), g2);		detector.getFiducialToCamera(i, targetToSensor);
			System.out.println("3D Location:");
			System.out.println(targetToSensor);
			VisualizeFiducial.drawCube(targetToSensor, param, detector.getWidth(i), 3, g2);
			VisualizeFiducial.drawLabelCenter(targetToSensor, param, "" + detector.getId(i), g2);
			} else {
			VisualizeFiducial.drawLabel(locationPixel, "" + detector.getId(i), g2);
			}
	}		}

← Older revision		Revision as of 03:15, 9 October 2021
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	Relevant Examples/Tutorials:		Relevant Examples/Tutorials:
	* [[Tutorial_Fiducials\|Tutorial Fiducials]]		* [[Tutorial_Fiducials\|Tutorial Fiducials]]
			* [[Example_Fiducial_Square_Hamming\|Example Fiducial Square Hamming]]
	* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]		* [[Example_Fiducial_Square_Image\|Example Fiducial Square Image]]
	* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]		* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]