Example Fiducial Square Image - Revision history

Peter at 22:43, 17 January 2022

2022-01-17T22:43:38Z

← Older revision		Revision as of 22:43, 17 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:
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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

2021-10-09T03:15:11Z

← Older revision		Revision as of 03:15, 9 October 2021
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	* [[Tutorial_Fiducials\|Tutorial Fiducials]]		* [[Tutorial_Fiducials\|Tutorial Fiducials]]
	* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]		* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]
			* [[Example_Fiducial_Square_Hamming\|Example Fiducial Square Hamming]]
	* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]		* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]

Peter at 18:03, 12 July 2021

2021-07-12T18:03:58Z

← 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/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:

Peter at 02:01, 22 December 2020

2020-12-22T02:01:31Z

← Older revision		Revision as of 02:01, 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/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleFiducialImage {		public class ExampleFiducialImage {
	public static void main(String[] args) {		public static void main( String[] args ) {
			String imagePath = UtilIO.pathExample("fiducial/image/examples/");
	String imagePath = UtilIO.pathExample("fiducial/image/examples/");
	String patternPath = UtilIO.pathExample("fiducial/image/patterns/");		String patternPath = UtilIO.pathExample("fiducial/image/patterns/");

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	// give it a description of all the targets		// give it a description of all the targets
	double width = 4; // 4 cm		double width = 4; // 4 cm
	detector.addPatternImage(loadImage(patternPath , "ke.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "ke.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "dog.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "dog.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "yu.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "yu.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "yu_inverted.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "yu_inverted.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "pentarose.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "pentarose.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "text_boofcv.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "text_boofcv.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "leaf01.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "leaf01.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "leaf02.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "leaf02.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "hand01.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "hand01.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "chicken.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "chicken.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "h2o.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "h2o.png", GrayF32.class), 100, width);
	detector.addPatternImage(loadImage(patternPath , "yinyang.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath, "yinyang.png", GrayF32.class), 100, width);

	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 13:51, 15 March 2019

2019-03-15T13:51:18Z

← Older revision		Revision as of 13:51, 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/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.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(imagePath, "intrinsic.yaml"));		CameraPinholeBrown param = CalibrationIO.load(new File(imagePath, "intrinsic.yaml"));
	LensDistortionNarrowFOV lensDistortion = new ~~LensDistortionRadialTangential~~(param);		LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);
	BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);		BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);
	GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));		GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));

Peter at 03:57, 27 December 2018

2018-12-27T03:57:45Z

← Older revision		Revision as of 03:57, 27 December 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.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

2018-03-19T03:06:56Z

← Older revision		Revision as of 03:06, 19 March 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:
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	detector.addPatternImage(loadImage(patternPath , "yinyang.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath , "yinyang.png", GrayF32.class), 100, width);

	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() )

Peter at 05:56, 20 January 2018

2018-01-20T05:56:16Z

← Older revision		Revision as of 05:56, 20 January 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/main/java~~/src~~/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:

Peter at 05:55, 20 January 2018

2018-01-20T05:55:55Z

← Older revision		Revision as of 05:55, 20 January 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/main/java/src/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

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

Peter at 23:23, 1 December 2016

2016-12-01T23:23:56Z

← 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/ExampleFiducialImage.java ExampleFiducialImage.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/fiducial/ExampleFiducialImage.java ExampleFiducialImage.java]

	Concepts:		Concepts:
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	* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]		* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]
	* [[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~~(imagePath, "intrinsic.~~xml~~");		CameraPinholeRadial param = CalibrationIO.load(new File(imagePath, "intrinsic.yaml"));
			LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(param);
	BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);		BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);
	GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));		GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));
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	detector.addPatternImage(loadImage(patternPath , "yinyang.png", GrayF32.class), 100, width);		detector.addPatternImage(loadImage(patternPath , "yinyang.png", GrayF32.class), 100, width);

	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.drawLabelCenter(targetToSensor, param, ""+detector.getId(i), g2);		if( detector.is3D() ) {
	VisualizeFiducial.~~drawCube~~(~~targetToSensor,param~~,detector.~~getWidth~~(i)~~, 3~~, 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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	* [[Tutorial_Fiducials\|Tutorial Fiducials]]		* [[Tutorial_Fiducials\|Tutorial Fiducials]]
	* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]		* [[Example_Fiducial_Square_Binary\|Example Fiducial Square Binary]]
			* [[Example_Fiducial_Square_Hamming\|Example Fiducial Square Hamming]]
	* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]		* [[Example_Calibration_Target_Pose\|Example Fiducial Calibration Target]]