Difference between revisions of "Example Fiducial Square Binary"

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Example Code:
Example Code:
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/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:
Line 19: Line 19:
* [[Example_Calibration_Target_Pose|Example Fiducial Calibration Target]]
* [[Example_Calibration_Target_Pose|Example Fiducial Calibration Target]]


Relevant Applets:
Videos
* [[Applet Fiducials| Applet Fiducials]]
* [https://youtu.be/qJWDK_FrgHE Fiducial Overview]


= Example Code =
= Example Code =
Line 34: Line 34:
public static void main(String[] args) {
public static void main(String[] args) {


String directory = "../data/applet/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
IntrinsicParameters param = UtilIO.loadXML(directory + "intrinsic.xml");
CameraPinholeBrown param = CalibrationIO.load(new File(directory , "intrinsic.yaml"));
BufferedImage input = UtilImageIO.loadImage(directory + "image0000.jpg");
LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(param);
// BufferedImage input = UtilImageIO.loadImage(directory + "image0001.jpg");
 
// BufferedImage input = UtilImageIO.loadImage(directory + "image0002.jpg");
BufferedImage input = UtilImageIO.loadImage(directory , "image0000.jpg");
ImageFloat32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(ImageFloat32.class));
// BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");
// BufferedImage input = UtilImageIO.loadImage(directory , "image0002.jpg");
GrayF32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(GrayF32.class));


// Detect the fiducial
// Detect the fiducial
FiducialDetector<ImageFloat32> detector = FactoryFiducial.
FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(
// squareBinaryRobust(new ConfigFiducialBinary(0.1), 6, ImageFloat32.class);
new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
squareBinaryFast(new ConfigFiducialBinary(0.1),100,ImageFloat32.class);
// new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);
 
detector.setIntrinsic(param);


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


Line 55: Line 56:
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();
Polygon2D_F64 bounds = new Polygon2D_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.getCenter(i, locationPixel);
detector.getFiducialToCamera(i, targetToSensor);
detector.getBounds(i, bounds);
System.out.println("Location:");
System.out.println(targetToSensor);


VisualizeFiducial.drawCube(targetToSensor,param,detector.getWidth(i), 3, g2);
g2.setColor(new Color(50,50,255));
g2.setStroke(new BasicStroke(10));
VisualizeShapes.drawPolygon(bounds,true,1.0,g2);
 
if( detector.hasID() )
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);
ShowImages.showWindow(input,"Fiducials",true);
}
}
}
}
</syntaxhighlight>
</syntaxhighlight>

Revision as of 06:50, 15 March 2019

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:

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 ExampleFiducialBinary {
	public static void main(String[] args) {

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

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

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

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

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

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