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BoofCV is an open source Java library for real-time computer vision and robotics applications.
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/*
 * Copyright (c) 2011-2018, 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.factory.fiducial;

import boofcv.abst.fiducial.*;
import boofcv.abst.fiducial.calib.*;
import boofcv.abst.filter.binary.InputToBinary;
import boofcv.alg.fiducial.qrcode.QrCodePositionPatternDetector;
import boofcv.alg.fiducial.square.DetectFiducialSquareBinary;
import boofcv.alg.fiducial.square.DetectFiducialSquareImage;
import boofcv.alg.shapes.polygon.DetectPolygonBinaryGrayRefine;
import boofcv.factory.filter.binary.ConfigThreshold;
import boofcv.factory.filter.binary.FactoryThresholdBinary;
import boofcv.factory.filter.binary.ThresholdType;
import boofcv.factory.shape.FactoryShapeDetector;
import boofcv.struct.image.ImageGray;

/**
 * Factory for creating fiducial detectors which implement {@link FiducialDetector}.
 *
 * @author Peter Abeles
 */
public class FactoryFiducial {

	/**
	 * Detector for square binary based fiducials.
	 *
	 * @see DetectFiducialSquareBinary DetectFiducialSquareBinary for a description of this fiducial type.
	 *
	 * @param configFiducial Description of the fiducial.  Can't be null.
	 * @param configThreshold Threshold for binary image.  null for default.
	 * @param imageType Type of image it's processing
	 * @return FiducialDetector
	 */
	public static >
	SquareBinary_to_FiducialDetector squareBinary( ConfigFiducialBinary configFiducial,
													  ConfigThreshold configThreshold,
													  Class imageType ) {

		if( configThreshold == null ) {
			configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_MEAN,21);
		}

		configFiducial.checkValidity();

		final InputToBinary binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
		final DetectPolygonBinaryGrayRefine squareDetector = FactoryShapeDetector.
				polygon(configFiducial.squareDetector,imageType);

		final DetectFiducialSquareBinary alg =
				new DetectFiducialSquareBinary<>(configFiducial.gridWidth,
						configFiducial.borderWidthFraction, configFiducial.minimumBlackBorderFraction,
						binary, squareDetector, imageType);
		alg.setAmbiguityThreshold(configFiducial.ambiguousThreshold);
		return new SquareBinary_to_FiducialDetector<>(alg, configFiducial.targetWidth);
	}

	/**
	 * Detector for square image based fiducials. 
	 *
	 * For this fiducial to work images need to be added to it.  Which is why {@link SquareImage_to_FiducialDetector}
	 * is returned instead of the more generic {@link FiducialDetector}.
	 *
	 * @see DetectFiducialSquareImage DetectFiducialSquareImage for a description of this fiducial type.
	 *
	 * @param configFiducial Description of the fiducial.  Can't be null.
	 * @param configThreshold Threshold for binary image. null for default.
	 * @param imageType Type of image it's processing
	 * @return FiducialDetector
	 */
	public static  >
	SquareImage_to_FiducialDetector squareImage( ConfigFiducialImage configFiducial,
													ConfigThreshold configThreshold,
													Class imageType ) {

		if( configThreshold == null ) {
			configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_MEAN,21);
		}

		configFiducial.squareDetector.detector.clockwise = false;

		InputToBinary binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
		DetectPolygonBinaryGrayRefine squareDetector =
				FactoryShapeDetector.polygon(configFiducial.squareDetector, imageType);
		DetectFiducialSquareImage alg = new DetectFiducialSquareImage<>(binary,
				squareDetector, configFiducial.borderWidthFraction, configFiducial.minimumBlackBorderFraction,
				configFiducial.maxErrorFraction, imageType);

		return new SquareImage_to_FiducialDetector<>(alg);
	}

	/**
	 * Wrapper around chessboard calibration detector.   Refine with lines is set to true automatically.  This
	 * isn't being used for calibration and its better to use the whole line.
	 *
	 * @param config Description of the chessboard.
	 * @param imageType Type of image it's processing
	 * @return FiducialDetector
	 */
	public static >
	CalibrationFiducialDetector calibChessboard( ConfigChessboard config, Class imageType) {
		return new CalibrationFiducialDetector<>(config, imageType);
	}

	/**
	 * Wrapper around square-grid calibration detector.  Refine with lines is set to true automatically.  This
	 * isn't being used for calibration and its better to use the whole line.
	 *
	 * @param config Description of the chessboard.
	 * @param imageType Type of image it's processing
	 * @return FiducialDetector
	 */
	public static >
	CalibrationFiducialDetector calibSquareGrid( ConfigSquareGrid config, Class imageType) {
		return new CalibrationFiducialDetector<>(config, imageType);
	}

	public static >
	CalibrationFiducialDetector calibSquareGridBinary( ConfigSquareGridBinary config, Class imageType) {
		return new CalibrationFiducialDetector<>(config, imageType);
	}

	public static >
	CalibrationFiducialDetector calibCircleHexagonalGrid(ConfigCircleHexagonalGrid config, Class imageType) {
		return new CalibrationFiducialDetector<>(config, imageType);
	}

	public static >
	CalibrationFiducialDetector calibCircleRegularGrid(ConfigCircleRegularGrid config, Class imageType) {
		return new CalibrationFiducialDetector<>(config, imageType);
	}

	public static >
	QrCodePreciseDetector qrcode(ConfigQrCode config, Class imageType) {
		if( config == null )
			config = new ConfigQrCode();

		config.checkValidity();

		InputToBinary inputToBinary = FactoryThresholdBinary.threshold(config.threshold,imageType);

		DetectPolygonBinaryGrayRefine squareDetector = FactoryShapeDetector.polygon(config.polygon, imageType);
		QrCodePositionPatternDetector detectPositionPatterns =
				new QrCodePositionPatternDetector<>(squareDetector,config.versionMaximum);

		return new QrCodePreciseDetector<>(inputToBinary,detectPositionPatterns, false, imageType);
	}

}