boofcv.factory.fiducial.FactoryFiducial Maven / Gradle / Ivy

Go to download
Show more of this group Show more artifacts with this name
Show all versions of recognition Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 0.26
/*
 * 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.factory.fiducial;

import boofcv.abst.fiducial.CalibrationFiducialDetector;
import boofcv.abst.fiducial.FiducialDetector;
import boofcv.abst.fiducial.SquareBinary_to_FiducialDetector;
import boofcv.abst.fiducial.SquareImage_to_FiducialDetector;
import boofcv.abst.fiducial.calib.ConfigChessboard;
import boofcv.abst.fiducial.calib.ConfigSquareGrid;
import boofcv.abst.fiducial.calib.ConfigSquareGridBinary;
import boofcv.abst.filter.binary.InputToBinary;
import boofcv.alg.fiducial.square.DetectFiducialSquareBinary;
import boofcv.alg.fiducial.square.DetectFiducialSquareImage;
import boofcv.alg.shapes.polygon.BinaryPolygonDetector;
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_SQUARE,10);
		}

		configFiducial.checkValidity();

		configFiducial.squareDetector.clockwise = false;

		final InputToBinary binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
		final BinaryPolygonDetector 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_SQUARE,10);
		}

		configFiducial.squareDetector.clockwise = false;

		InputToBinary binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
		BinaryPolygonDetector 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) {

		config.refineWithCorners = false;

		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) {

		config.refineWithCorners = false;

		return new CalibrationFiducialDetector(config,imageType);
	}

	public static 
	CalibrationFiducialDetector calibSquareGridBinary( ConfigSquareGridBinary config, Class imageType) {

		return new CalibrationFiducialDetector(config,imageType);
	}
}