/*
* 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.ConfigCircleAsymmetricGrid;
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 <T extends ImageGray>
SquareBinary_to_FiducialDetector<T> squareBinary( ConfigFiducialBinary configFiducial,
ConfigThreshold configThreshold,
Class<T> imageType ) {
if( configThreshold == null ) {
configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_SQUARE,10);
}
configFiducial.checkValidity();
configFiducial.squareDetector.clockwise = false;
final InputToBinary<T> binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
final BinaryPolygonDetector<T> squareDetector = FactoryShapeDetector.
polygon(configFiducial.squareDetector,imageType);
final DetectFiducialSquareBinary<T> alg =
new DetectFiducialSquareBinary<>(configFiducial.gridWidth,
configFiducial.borderWidthFraction, configFiducial.minimumBlackBorderFraction,
binary, squareDetector, imageType);
alg.setAmbiguityThreshold(configFiducial.ambiguousThreshold);
return new SquareBinary_to_FiducialDetector<>(alg, configFiducial.targetWidth);
}
/**
* <p>Detector for square image based fiducials. </p>
*
* <p>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}.</p>
*
* @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 <T extends ImageGray>
SquareImage_to_FiducialDetector<T> squareImage( ConfigFiducialImage configFiducial,
ConfigThreshold configThreshold,
Class<T> imageType ) {
if( configThreshold == null ) {
configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_SQUARE,10);
}
configFiducial.squareDetector.clockwise = false;
InputToBinary<T> binary = FactoryThresholdBinary.threshold(configThreshold, imageType);
BinaryPolygonDetector<T> squareDetector =
FactoryShapeDetector.polygon(configFiducial.squareDetector, imageType);
DetectFiducialSquareImage<T> 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 <T extends ImageGray>
CalibrationFiducialDetector<T> calibChessboard( ConfigChessboard config, Class<T> 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 <T extends ImageGray>
CalibrationFiducialDetector<T> calibSquareGrid( ConfigSquareGrid config, Class<T> imageType) {
config.refineWithCorners = false;
return new CalibrationFiducialDetector<>(config, imageType);
}
public static <T extends ImageGray>
CalibrationFiducialDetector<T> calibSquareGridBinary( ConfigSquareGridBinary config, Class<T> imageType) {
return new CalibrationFiducialDetector<>(config, imageType);
}
public static <T extends ImageGray>
CalibrationFiducialDetector<T> calibCircleAsymGrid(ConfigCircleAsymmetricGrid config, Class<T> imageType) {
return new CalibrationFiducialDetector<>(config, imageType);
}
}