boofcv.abst.geo.calibration.MultiToSingleFiducialCalibration Maven / Gradle / Ivy

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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) 2023, 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.abst.geo.calibration;

import boofcv.alg.distort.LensDistortionNarrowFOV;
import boofcv.alg.geo.calibration.CalibrationObservation;
import boofcv.struct.image.GrayF32;
import georegression.struct.point.Point2D_F64;
import lombok.Getter;
import lombok.Setter;
import org.jetbrains.annotations.Nullable;

import java.util.List;

/**
 * Wraps {@link DetectMultiFiducialCalibration} by limiting it to a single marker.
 *
 * @author Peter Abeles
 */
public class MultiToSingleFiducialCalibration implements DetectSingleFiducialCalibration {
	/** The algorithm it's wrapping */
	@Getter DetectMultiFiducialCalibration multi;

	/** Specifies which marker it will return. All other markers will be ignored */
	@Getter @Setter int targetMarker = 0;

	// Index of the detected target that matches the target marker. -1 means no matches found.
	private int detectedIndex;

	int width, height;

	public MultiToSingleFiducialCalibration( DetectMultiFiducialCalibration alg ) {
		this.multi = alg;
	}

	public MultiToSingleFiducialCalibration( int target, DetectMultiFiducialCalibration alg ) {
		this.targetMarker = target;
		this.multi = alg;
	}

	@Override public boolean process( GrayF32 input ) {
		multi.process(input);
		width = input.width;
		height = input.height;

		detectedIndex = -1;
		for (int i = 0; i < multi.getDetectionCount(); i++) {
			CalibrationObservation o = multi.getDetectedPoints(i);
			if (o.target == targetMarker) {
				detectedIndex = i;
				break;
			}
		}

		return detectedIndex != -1;
	}

	@Override public CalibrationObservation getDetectedPoints() {
		if (detectedIndex == -1)
			return new CalibrationObservation();

		return multi.getDetectedPoints(detectedIndex);
	}

	@Override public List getLayout() {
		return multi.getLayout(targetMarker);
	}

	@Override public void setLensDistortion( @Nullable LensDistortionNarrowFOV distortion, int width, int height ) {
		multi.setLensDistortion(distortion, width, height);
	}
}