boofcv.alg.fiducial.calib.ecocheck.ECoCheckFound Maven / Gradle / Ivy

/*
 * Copyright (c) 2022, 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.alg.fiducial.calib.ecocheck;

import boofcv.alg.feature.detect.chess.ChessboardCorner;
import boofcv.struct.geo.PointIndex2D_F64;
import org.ddogleg.struct.DogArray;
import org.ddogleg.struct.DogArray_B;
import org.ddogleg.struct.DogArray_I32;

/**
 * Storage for a detected Error COrrecting Checkerboard (ECoCheck) marker found inside an image.
 *
 * @author Peter Abeles
 */
public class ECoCheckFound {
	/** Which marker it came from. -1 if unknown */
	public int markerID;

	/** Number of square rows in the pattern. */
	public int squareRows;

	/** Number of square columns in the pattern. */
	public int squareCols;

	/** Found calibration corners it was able to observe */
	public final DogArray corners = new DogArray<>(PointIndex2D_F64::new, (c)->c.setTo(-1,-1,-1));

	/** Corner image processing metadata. Provides focus and brightness info */
	public final DogArray metadata = new DogArray<>(ChessboardCorner::new);

	/** Indicates if a corner was decoded next to an encoding. Very unlikely to be a false positive. */
	public final DogArray_B touchBinary = new DogArray_B();

	/** Cell ID for cells which were successfully decoded. */
	public DogArray_I32 decodedCells = new DogArray_I32();

	public ECoCheckFound( ECoCheckFound src ) {setTo(src);}

	public ECoCheckFound() {}

	public void addCorner( ChessboardCorner corner, int cornerID ) {
		corners.grow().setTo(corner, cornerID);
		metadata.grow().setTo(corner);
	}

	public void reset() {
		markerID = -1;
		squareCols = -1;
		squareRows = -1;
		corners.reset();
		touchBinary.reset();
		decodedCells.reset();
		metadata.reset();
	}

	public void setTo( ECoCheckFound src ) {
		this.markerID = src.markerID;
		this.squareCols = src.squareCols;
		this.squareRows = src.squareRows;
		this.corners.resize(src.corners.size);
		for (int i = 0; i < src.corners.size; i++) {
			this.corners.get(i).setTo(src.corners.get(i));
		}
		this.touchBinary.setTo(src.touchBinary);
		this.decodedCells.setTo(src.decodedCells);
		this.metadata.reset().resize(src.metadata.size);
		for (int i = 0; i < src.metadata.size; i++) {
			this.metadata.get(i).setTo(src.metadata.get(i));
		}
	}
}