Tutorial Fiducials - Revision history

Peter at 17:50, 20 January 2018

2018-01-20T17:50:17Z

← Older revision		Revision as of 17:50, 20 January 2018
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	See the examples below for a more understanding of how to use these different types of fiducials.		See the examples below for a more understanding of how to use these different types of fiducials.

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

	Examples:		Examples:

Peter: /* Programming */

2018-01-20T17:49:30Z

Programming

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	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	FiducialDetector<~~ImageFloat32~~> detector = FactoryFiducial.pickAFiducial(...);		FiducialDetector<GrayF32> detector = FactoryFiducial.pickAFiducial(...);
	... additional fiducial specific configuration goes here ...		... additional fiducial specific configuration goes here ...
	detector.setIntrinsic(param);		detector.setIntrinsic(param);
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	System.out.println("Target ID = "+detector.getId(i));		System.out.println("Target ID = "+detector.getId(i));
	System.out.println("Target width = "+detector.getWidth(i));		System.out.println("Target width = "+detector.getWidth(i));
	detector.~~getFiducialToWorld~~(i,targetToSensor);		detector.getFiducialToCamera(i,targetToSensor);
	System.out.println("Location:");		System.out.println("Location:");
	}		}

Peter at 17:47, 20 January 2018

2018-01-20T17:47:03Z

← Older revision		Revision as of 17:47, 20 January 2018
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	Image:Fiducial_squre_binary.png\| Square Binary		Image:Fiducial_squre_binary.png\| Square Binary
	Image:Fiducial_square_image.png\| Square Image		Image:Fiducial_square_image.png\| Square Image
	~~Image:~~File:Calibration_letter_chessboard_7x5.png\| Calibration Target		File:Calibration_letter_chessboard_7x5.png\| Calibration Target
	Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials		Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials
	</gallery>		</gallery>

Peter at 17:46, 20 January 2018

2018-01-20T17:46:29Z

← Older revision		Revision as of 17:46, 20 January 2018
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	Image:Fiducial_squre_binary.png\| Square Binary		Image:Fiducial_squre_binary.png\| Square Binary
	Image:Fiducial_square_image.png\| Square Image		Image:Fiducial_square_image.png\| Square Image
	Image:~~Calib_target_chess_small~~.png\| Calibration Target		Image:File:Calibration_letter_chessboard_7x5.png\| Calibration Target
	Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials		Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials
	</gallery>		</gallery>

Orfgen: /* Square Image */ Corrected github link "applet" -> "example"

2017-04-22T19:10:42Z

Square Image: Corrected github link "applet" -> "example"

← Older revision		Revision as of 19:10, 22 April 2017
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	This will create a pattern which is 12cm wide and encodes the image contained in 'pentarose.png'. The output will be saved in "fiducial.ps" file.		This will create a pattern which is 12cm wide and encodes the image contained in 'pentarose.png'. The output will be saved in "fiducial.ps" file.

	Not feeling very creative or just want to see some example images? Several patterns are contained in [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/~~applet~~/fiducial/image/patterns "data/~~applet~~/fiducial/image/patterns/"].		Not feeling very creative or just want to see some example images? Several patterns are contained in [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/example/fiducial/image/patterns "data/example/fiducial/image/patterns/"].

	= How Do Square Fiducials Work? =		= How Do Square Fiducials Work? =

Peter at 05:38, 29 March 2016

2016-03-29T05:38:17Z

← Older revision		Revision as of 05:38, 29 March 2016
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	* [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/applet/fiducial/image/eps bunch more]		* [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/applet/fiducial/image/eps bunch more]
	\|		\|
	* [http://boofcv.org/notwiki/calibration/letter_square.ps Letter Sized Paper: Square Grid, 5 by 7, 30mm Squares]		* [http://boofcv.org/notwiki/calibration/letter_square.ps Letter Sized Paper: Square Grid, 3 by 4, 30mm Squares]
	* [http://boofcv.org/notwiki/calibration/A4_square.ps A4 Sized Paper: Square Grid, 5 ~~by 9~~, 30mm Squares]		* [http://boofcv.org/notwiki/calibration/A4_square.ps A4 Sized Paper: Square Grid, 3 by 5, 30mm Squares]
	* [http://boofcv.org/notwiki/calibration/A1_square.ps A1 Sized Paper: Square Grid, 7 by 11 60mm Squares]		* [http://boofcv.org/notwiki/calibration/A1_square.ps A1 Sized Paper: Square Grid, 4 by 6 60mm Squares]
	\|}		\|}

Peter at 16:49, 14 November 2015

2015-11-14T16:49:58Z

← Older revision		Revision as of 16:49, 14 November 2015
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	The following is a printable documents for all the types of fiducials supported in BoofCV. Print these to get started quickly, but creating your own is also easy.		The following is a printable documents for all the types of fiducials supported in BoofCV. Print these to get started quickly, but creating your own is also easy.

	* Square Binary		{\| class="wikitable"
	*# [http://boofcv.org/notwiki/fiducials/square0643.eps File 4x4 Binary #0643]		! Square Binary !! Chessboard
	*# [http://boofcv.org/notwiki/fiducials/square0284.eps File 4x4 Binary #0284]		\|-
	* Square Image		\|
	*# [http://boofcv.org/notwiki/~~fiducials~~/~~10cm_pentarose~~.~~eps Pentarose~~]		* [http://boofcv.org/notwiki/fiducials/square0643.eps File 4x4 Binary #0643]
	*# [http://boofcv.org/notwiki/~~fiducials~~/~~10cm_yinyang~~.~~eps Yin Yang~~]		* [http://boofcv.org/notwiki/fiducials/square0284.eps File 4x4 Binary #0284]
	*# [http://boofcv.org/notwiki/~~fiducials~~/~~all_a4~~.~~eps Sheet of All~~, A4]		\|
	*# [http://boofcv.org/notwiki/fiducials/~~all_letter~~.eps ~~Sheet of All, Letter~~]		* [http://boofcv.org/notwiki/calibration/letter_chess.ps Letter Sized Paper: Chessboard, 5 by 7, 30mm Squares]
	*# [~~https~~://~~github~~.~~com~~/~~lessthanoptimal~~/~~BoofCV-Data/tree/master/applet/fiducial/image~~/eps ~~bunch more~~]		* [http://boofcv.org/notwiki/calibration/A4_chess.ps A4 Sized Paper: Chessboard, 5 by 8, 30mm Squares]
	* ~~Calibration Chessboard~~		* [http://boofcv.org/notwiki/calibration/A1_chess.ps A1 Sized Paper: Chessboard, 8 by 12, 60mm Squares]
	*# [http://boofcv.org/notwiki/~~calibration~~/~~letter_chess~~.~~ps Letter Sized Paper: Chessboard~~, ~~5 by 7, 30mm Squares~~]		\|-
	*# [http://boofcv.org/notwiki/~~calibration~~/~~A4_chess~~.~~ps A4 Sized Paper: Chessboard~~, ~~5 by 8, 30mm Squares~~]		! Square Image !! Square grid
	*# [~~http~~://~~boofcv~~.~~org~~/~~notwiki~~/~~calibration~~/~~A1_chess.ps A1 Sized Paper: Chessboard, 8 by 12, 60mm Squares~~]		\|-
	* Calibration Square Grid		\|
	*# [http://boofcv.org/notwiki/calibration/letter_square.ps Letter Sized Paper: Square Grid, 5 by 7, 30mm Squares]		* [http://boofcv.org/notwiki/fiducials/10cm_pentarose.eps Pentarose]
	*# [http://boofcv.org/notwiki/calibration/A4_square.ps A4 Sized Paper: Square Grid, 5 by 9, 30mm Squares]		* [http://boofcv.org/notwiki/fiducials/10cm_yinyang.eps Yin Yang]
	*# [http://boofcv.org/notwiki/calibration/A1_square.ps A1 Sized Paper: Square Grid, 7 by 11 60mm Squares]		* [http://boofcv.org/notwiki/fiducials/all_a4.eps Sheet of All, A4]
			* [http://boofcv.org/notwiki/fiducials/all_letter.eps Sheet of All, Letter]
			* [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/applet/fiducial/image/eps bunch more]
			\|
			* [http://boofcv.org/notwiki/calibration/letter_square.ps Letter Sized Paper: Square Grid, 5 by 7, 30mm Squares]
			* [http://boofcv.org/notwiki/calibration/A4_square.ps A4 Sized Paper: Square Grid, 5 by 9, 30mm Squares]
			* [http://boofcv.org/notwiki/calibration/A1_square.ps A1 Sized Paper: Square Grid, 7 by 11 60mm Squares]
			\|}

	= Creating your Own Fiducial =		= Creating your Own Fiducial =

Peter at 15:49, 11 November 2015

2015-11-11T15:49:25Z

← Older revision		Revision as of 15:49, 11 November 2015
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	</center>		</center>

	In computer vision, a fiducial marker is a known object which can be identified ~~and have its pose estimated~~. BoofCV provides built in support several different fiducials, which can be easily printed. Applications are provided for ~~automatically~~ creating ~~printable~~ postscript files ~~and~~ a high level interface for detection, identification and pose estimation.		In computer vision, a fiducial marker is a known object which can be easily identified. BoofCV provides built in support several different fiducials, all of which can be easily printed on paper. Applications are provided for creating your own postscript files. BoofCV library provides a single high level interface for detection, identification and pose estimation of all fiducials. Alternatively you can use the low level API and access fiducial specific information.

	There are two types of fiducials supported in BoofCV, square and calibration targets. Square fiducials encode a ~~pattern~~ inside a black square box. These targets can be uniquely identified and provide a full pose estimate. Calibration targets fiducials are repurposed targets used to calibrate cameras. Calibration fiducials tend to provide very accurate pose estimation when close to the camera, but can have difficulty as they move away. There are two significant disadvantage for calibration targets. 1) They don't provide a unique ID. 2) Most patterns are not fully orientation invariant. You can see the lack of rotation invariance when it suddenly flips 180 degrees.		<center>[https://youtu.be/qJWDK_FrgHE Fiducial Video Overview]</center>

			There are two types of fiducials supported in BoofCV, square and calibration targets. Square fiducials encode a large number of unique patterns inside a black square box. These targets can be uniquely identified and provide a full pose estimate. Calibration targets fiducials are repurposed targets used to calibrate cameras. Calibration fiducials tend to provide very accurate pose estimation when close to the camera, but can have difficulty as they move away. There are two significant disadvantage for calibration targets. 1) They don't provide a unique ID. 2) Most patterns are not fully orientation invariant. You can see the lack of rotation invariance when it suddenly flips 180 degrees.

	<center>		<center>

Peter: /* Application */

2015-11-10T04:22:29Z

Application

← Older revision		Revision as of 04:22, 10 November 2015
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	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	cd boofcv/applications		cd boofcv/applications
	gradle ~~applciationsJar~~		gradle applicationsJar
	java -jar applications.jar WebcamTrackFiducial --Resolution=640:480 BINARY		java -jar applications.jar WebcamTrackFiducial --Resolution=640:480 BINARY
	</syntaxhighlight>		</syntaxhighlight>

Peter at 21:24, 9 November 2015

2015-11-09T21:24:14Z

← Older revision		Revision as of 21:24, 9 November 2015
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	</gallery>		</gallery>
	</center>		</center>


	~~<center>'''FIDUCIAL STABILITY AND ACCURACY WAS IMPROVED BY A LARGE MARGIN IN BOOFCV v0.19'''</center>~~

	In computer vision, a fiducial marker is a known object which can be identified and have its pose estimated. BoofCV provides built in support several different fiducials, which can be easily printed. Applications are provided for automatically creating printable postscript files and a high level interface for detection, identification and pose estimation.		In computer vision, a fiducial marker is a known object which can be identified and have its pose estimated. BoofCV provides built in support several different fiducials, which can be easily printed. Applications are provided for automatically creating printable postscript files and a high level interface for detection, identification and pose estimation.
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	! Type !! Variant !! Speed (FPS) !! Unique !! Pose !! Accuracy		! Type !! Variant !! Speed (FPS) !! Unique !! Pose !! Accuracy
	\|-		\|-
	\|Square Binary\|\| Fast \|\|style="text-align:center;"\| 175 \|\| ~~4096~~ \|\| Full \|\| Good		\|Square Binary\|\| Fast \|\|style="text-align:center;"\| 175 \|\| Varies \|\| Full \|\| Good
	\|-		\|-
	\| \|\| Robust \|\|style="text-align:center;"\| 67 \|\| \|\| \|\|		\| \|\| Robust \|\|style="text-align:center;"\| 67 \|\| \|\| \|\|
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	\| \|\| Robust \|\|style="text-align:center;"\| 66 \|\| \|\| \|\|		\| \|\| Robust \|\|style="text-align:center;"\| 66 \|\| \|\| \|\|
	\|-		\|-
	\|Calibration \|\| Chessboard \|\|style="text-align:center;"\| 97 \|\| 1 \|\| Partial \|\| Best Close~~[0]~~		\|Calibration \|\| Chessboard \|\|style="text-align:center;"\| 97 \|\| 1 \|\| Partial \|\| Best Close
	\|-		\|-
	\| \|\| Square Grid \|\|style="text-align:center;"\| 100 \|\| 1 \|\| Partial \|\| Best Close~~[0]~~		\| \|\| Square Grid \|\|style="text-align:center;"\| 100 \|\| 1 \|\| Partial \|\| Best Close
	\|}		\|}
	''Speed'' to detect multiple fiducials in a 640x480 image on a Intel Core i7-2600 3.4 Ghz. ''Unique'' max number of unique targets it can identify. ''Pose'' indicates if a full 6-DOF estimate is found or subset. Infinity symbol really means "lots".		''Speed'' to detect multiple fiducials in a 640x480 image on a Intel Core i7-2600 3.4 Ghz. ''Unique'' max number of unique targets it can identify. ''Pose'' indicates if a full 6-DOF estimate is found or subset. Infinity symbol really means "lots". Binary fiducials can be configured with different inner grids. Total number of unique fiducials will very from 32 to 1.15e18 for a 3x3 or 8x8 grid, respectively.

	~~[0] There is a bug in v0.19 and before where when viewed at acute angles its accuracy goes down~~. ~~This has been fixed in 0~~.~~20-SNAPSHOT already~~.
	</center>		</center>

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	cd boofcv/applications		cd boofcv/applications
	gradle applciationsJar		gradle applciationsJar
	java -cp applications.jar ~~boofcv.app.~~WebcamTrackFiducial --Resolution=640:480 BINARY		java -jar applications.jar WebcamTrackFiducial --Resolution=640:480 BINARY
	</syntaxhighlight>		</syntaxhighlight>

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	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	java -cp applications.jar ~~boofcv.app.~~WebcamTrackFiducial --Intrinsic=intrinsic.xml BINARY		java -jar applications.jar WebcamTrackFiducial --Intrinsic=intrinsic.xml BINARY
	</syntaxhighlight>		</syntaxhighlight>

	To get a list of commands and see how to track other types of fiducials just enter the command with no arguments.		To get a list of commands and see how to track other types of fiducials just enter the command with no arguments.
	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	java -cp applications.jar ~~boofcv.app.~~WebcamTrackFiducial		java -jar applications.jar WebcamTrackFiducial
	</syntaxhighlight>		</syntaxhighlight>

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	* Square Binary		* Square Binary
	*# [http://boofcv.org/notwiki/fiducials/square0643.eps File Binary #0643]		*# [http://boofcv.org/notwiki/fiducials/square0643.eps File 4x4 Binary #0643]
	*# [http://boofcv.org/notwiki/fiducials/square0284.eps File Binary #0284]		*# [http://boofcv.org/notwiki/fiducials/square0284.eps File 4x4 Binary #0284]
	* Square Image		* Square Image
	*# [http://boofcv.org/notwiki/fiducials/10cm_pentarose.eps Pentarose]		*# [http://boofcv.org/notwiki/fiducials/10cm_pentarose.eps Pentarose]
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	= Creating your Own Fiducial =		= Creating your Own Fiducial =

	For square fiducials, a convenient command-line application is provided which can create printable ~~EPS~~ documents which contain one or more fiducials on them. For calibration targets, prefabricated patterns are provided which can also be printed.		For square fiducials, a convenient command-line application is provided which can create printable postscript (.ps) documents which contain one or more fiducials on them. For calibration targets, prefabricated patterns are provided which can also be printed.

	== Square Binary ==		== Square Binary ==
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	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	java -cp applications.jar ~~boofcv.app.CreateFiducialSquareBinaryEPS~~ -OutputFile=fiducial.~~eps~~ -PrintInfo -Units=cm 12 284		java -jar applications.jar CreateFiducialSquareBinary -OutputFile=fiducial.ps -PrintInfo -Units=cm 12 284
	</syntaxhighlight>		</syntaxhighlight>

	That will create a printable fiducial.~~eps~~ file that encodes the number 284 in a square that's 12 centimeters.		That will create a printable fiducial.ps file that encodes the number 284 in a 4x4 square that's 12 centimeters. The number of elements which compose its inner grid and the width of the outside border are both configurable. By default all code assumes a 4x4 grid and 0.25 fractional border width. This produces a reasonable compose between detection robustness and the number of features it can encode, which is 4096.

	== Square Image ==		== Square Image ==
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	<syntaxhighlight lang="bash">		<syntaxhighlight lang="bash">
	java -cp applications.jar ~~boofcv.app.CreateFiducialSquareImageEPS~~ -OutputFile=fiducial.~~eps~~ -PrintInfo -Units=cm 12 pentarose.png		java -jar applications.jar CreateFiducialSquareImage -OutputFile=fiducial.ps -PrintInfo -Units=cm 12 pentarose.png
	</syntaxhighlight>		</syntaxhighlight>
	This will create a pattern which is 12cm wide and encodes the image contained in 'pentarose.png'. The output will be saved in "fiducial.~~eps~~" file.		This will create a pattern which is 12cm wide and encodes the image contained in 'pentarose.png'. The output will be saved in "fiducial.ps" file.

	Not feeling very creative or just want to see some example images? Several patterns are contained in [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/applet/fiducial/image/patterns "data/applet/fiducial/image/patterns/"].		Not feeling very creative or just want to see some example images? Several patterns are contained in [https://github.com/lessthanoptimal/BoofCV-Data/tree/master/applet/fiducial/image/patterns "data/applet/fiducial/image/patterns/"].

← Older revision		Revision as of 17:47, 20 January 2018
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	Image:Fiducial_squre_binary.png\| Square Binary		Image:Fiducial_squre_binary.png\| Square Binary
	Image:Fiducial_square_image.png\| Square Image		Image:Fiducial_square_image.png\| Square Image
	~~Image:~~File:Calibration_letter_chessboard_7x5.png\| Calibration Target		File:Calibration_letter_chessboard_7x5.png\| Calibration Target
	Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials		Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials
	</gallery>		</gallery>

← Older revision		Revision as of 17:46, 20 January 2018
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	Image:Fiducial_squre_binary.png\| Square Binary		Image:Fiducial_squre_binary.png\| Square Binary
	Image:Fiducial_square_image.png\| Square Image		Image:Fiducial_square_image.png\| Square Image
	Image:~~Calib_target_chess_small~~.png\| Calibration Target		Image:File:Calibration_letter_chessboard_7x5.png\| Calibration Target
	Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials		Image:Fiducial square binary detected.jpg\| Cubes rendered on top of detected fiducials
	</gallery>		</gallery>