boofcv.app.calib.CalibrationView Maven / Gradle / Ivy

Go to download
Show more of this group Show more artifacts with this name
Show all versions of applications Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.7
/*
 * Copyright (c) 2011-2016, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.app.calib;

import boofcv.abst.fiducial.calib.CalibrationDetectorChessboard;
import boofcv.abst.fiducial.calib.CalibrationDetectorSquareGrid;
import boofcv.abst.geo.calibration.CalibrationDetector;
import boofcv.alg.geo.calibration.CalibrationObservation;
import georegression.struct.point.Point2D_F64;

import java.util.List;

/**
 * Interface used to provide calibration target specific information
 *
 * @author Peter Abeles
 */
public interface CalibrationView {

	/**
	 * Intialize by providing it a reference to the detector.  This is then used to determine the appearance
	 * of the target
	 */
	void initialize( CalibrationDetector detector );

	/**
	 * Returns the 4 sides around the fiducial
	 */
	void getSides( CalibrationObservation detections , List sides );

	/**
	 * Returns how wide the image border should be given the visual width of the canonical fiducial
	 */
	int getBufferWidth( double gridPixelsWide );

	class Chessboard implements CalibrationView {

		int numRows,numCols;
		int pointRows,pointCols;

		public void initialize( CalibrationDetector detector ) {
			CalibrationDetectorChessboard chessboard = (CalibrationDetectorChessboard)detector;
			this.numRows = chessboard.getGridRows();
			this.numCols = chessboard.getGridColumns();

			pointRows = numRows-1;
			pointCols = numCols-1;
		}

		@Override
		public void getSides(CalibrationObservation detections, List sides) {
			sides.clear();
			sides.add( get(0, 0, detections.points));
			sides.add( get(0, pointCols-1, detections.points));
			sides.add( get(pointRows-1, pointCols-1, detections.points));
			sides.add( get(pointRows-1, 0, detections.points));
		}

		private Point2D_F64 get( int row , int col , List detections ) {
			return detections.get(row*pointCols+col).pixel;
		}

		@Override
		public int getBufferWidth( double gridPixelsWide ) {
			return (int)(0.2*gridPixelsWide/(pointCols-1)+0.5);
		}
	}

	class SquareGrid implements CalibrationView {

		int gridCols;
		int pointRows,pointCols;

		public void initialize( CalibrationDetector detector ) {
			CalibrationDetectorSquareGrid target = (CalibrationDetectorSquareGrid)detector;
			pointRows = target.getPointRows();
			pointCols = target.getPointColumns();

			gridCols = target.getGridColumns();
			gridCols += gridCols/2;
		}

		@Override
		public void getSides(CalibrationObservation detections, List sides) {
			sides.clear();
			sides.add( get(0, 0, detections.points));
			sides.add( get(0, pointCols-1, detections.points));
			sides.add( get(pointRows-1, pointCols-1, detections.points));
			sides.add( get(pointRows-1, 0, detections.points));
		}

		private Point2D_F64 get( int row , int col , List detections ) {
			return detections.get(row*pointCols+col).pixel;
		}

		@Override
		public int getBufferWidth( double gridPixelsWide ) {
			return (int)(0.15*(gridPixelsWide/gridCols)+0.5);
		}
	}
}