Example Fiducial Square Binary

• 

  Rendered 3D flat squares on top of fiducials

Demonstration how to detect square binary fiducials. Square binary fiducials encode a pattern in the fiducial's center which can describe up to 4096 unique targets.

Example Code:

• ExampleFiducialBinary.java

Concepts:

• Fiducials
• Pose estimation

Relevant Examples/Tutorials:

• Tutorial Fiducials
• Example Fiducial Square Image
• Example Fiducial Calibration Target

Relevant Applets:

• Applet Fiducials

Example Code

/**
 * Detects square binary fiducials inside an image, writes out there pose, and visualizes a virtual flat cube
 * above them in the input image.
 *
 * @author Peter Abeles
 */
public class ExampleFiducialBinary {
	public static void main(String[] args) {

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

		// load the lens distortion parameters and the input image
		IntrinsicParameters param = UtilIO.loadXML(directory , "intrinsic.xml");
		BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");
//		BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");
//		BufferedImage input = UtilImageIO.loadImage(directory , "image0002.jpg");
		ImageFloat32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(ImageFloat32.class));

		// Detect the fiducial
		FiducialDetector<ImageFloat32> detector = FactoryFiducial.squareBinary(
				new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), ImageFloat32.class);
//				new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),ImageFloat32.class);

		detector.setIntrinsic(param);

		detector.detect(original);

		// print the results
		Graphics2D g2 = input.createGraphics();
		Se3_F64 targetToSensor = new Se3_F64();
		for (int i = 0; i < detector.totalFound(); i++) {
			System.out.println("Target ID = "+detector.getId(i));
			detector.getFiducialToCamera(i, targetToSensor);
			System.out.println("Location:");
			System.out.println(targetToSensor);

			VisualizeFiducial.drawCube(targetToSensor,param,detector.getWidth(i), 3, g2);
//			VisualizeFiducial.drawLabelCenter(targetToSensor,param,""+detector.getId(i), g2);
		}

		ShowImages.showWindow(input,"Fiducials",true);

	}
}