Example Fiducial Square Image
From BoofCV
Jump to navigationJump to searchDemonstration how to detect square image fiducials. After the fiducial detector has been created a description of each image it detects is passed in. These images are converted into binary images and resized if needed. A large number of unique fiducials can be detected with a linear growth in computational time.
Example Code:
Concepts:
- Fiducials
- Pose estimation
Relevant Examples/Tutorials:
Videos
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 ExampleFiducialImage {
public static void main(String[] args) {
String imagePath = UtilIO.pathExample("fiducial/image/examples/");
String patternPath = UtilIO.pathExample("fiducial/image/patterns/");
// String imageName = "image00.jpg";
String imageName = "image01.jpg";
// String imageName = "image02.jpg";
// load the lens distortion parameters and the input image
CameraPinholeRadial param = CalibrationIO.load(new File(imagePath, "intrinsic.yaml"));
LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(param);
BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);
GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));
// Detect the fiducial
SquareImage_to_FiducialDetector<GrayF32> detector = FactoryFiducial.squareImage(
new ConfigFiducialImage(), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
// new ConfigFiducialImage(), ConfigThreshold.fixed(100), GrayF32.class);
// give it a description of all the targets
double width = 4; // 4 cm
detector.addPatternImage(loadImage(patternPath , "ke.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_inverted.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 , "leaf01.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 , "chicken.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.setLensDistortion(lensDistortion);
detector.detect(original);
// print the results
Graphics2D g2 = input.createGraphics();
Se3_F64 targetToSensor = new Se3_F64();
Point2D_F64 locationPixel = new Point2D_F64();
for (int i = 0; i < detector.totalFound(); i++) {
detector.getImageLocation(i, locationPixel);
if( detector.hasUniqueID() )
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);
if( detector.is3D() ) {
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);
}
}
ShowImages.showWindow(input,"Fiducials",true);
}
}