@Override public void notifyOfVariableChange(YoVariable<?> v) { synchronized (expectedFiducialSizeChangedConch) { detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(expectedFiducialSize.getDoubleValue()), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); } } });
public CalibrationDetectorSquareFiducialGrid(ConfigSquareGridBinary config) { DetectFiducialSquareBinary<GrayF32> fiducialDetector = FactoryFiducial. squareBinary(config.configDetector, config.configThreshold, GrayF32.class).getAlgorithm(); detector = new DetectFiducialSquareGrid<>(config.numRows,config.numCols,config.ids,fiducialDetector); numRows = config.numRows; numCols = config.numCols; numPointRows = 2*numRows; numPointCols = 2*numCols; layoutPoints = CalibrationDetectorSquareGrid.createLayout(numRows, numCols, config.squareWidth, config.spaceWidth); }
@Override public void variableChanged(YoVariable<?> v) { synchronized (expectedFiducialSizeChangedConch) { detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(expectedFiducialSize.getDoubleValue()), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); } } });
@Override protected FiducialDetector<GrayU8> createDetector() { FiducialDetector<GrayU8> detector; ConfigFiducialBinary config = new ConfigFiducialBinary(0.1); synchronized ( lock ) { ConfigThreshold configThreshold; if (robust) { configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 13); } else { configThreshold = ConfigThreshold.fixed(binaryThreshold); } detector = FactoryFiducial.squareBinary(config, configThreshold, GrayU8.class); } return detector; }
public static void main(String[] arg) throws URISyntaxException { //install ros libuvc_camera driver first to try on usbwebcams String cameraPrefix = "/multisense/left"; String imageTopic = cameraPrefix + "/image_color"; String cameraInfoTopic = cameraPrefix + "/camera_info"; final boolean RUN_JAVA_ROSCORE = false; URI rosMasterURI; if (RUN_JAVA_ROSCORE) { RosCore rosCore = RosCore.newPublic(); rosMasterURI = rosCore.getUri(); } else { // rosMasterURI = new URI("http://cpu0:11311"); rosMasterURI = new URI("http://localhost:11311"); } RosMainNode rosMainNode = new RosMainNode(rosMasterURI, "RosMainNode"); // FiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(5, 6, 0.09), GrayF32.class); FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); new RosFiducialDetector(rosMainNode, imageTopic, cameraInfoTopic, detector); rosMainNode.execute(); } }
detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), configThreshold, imageClass); } else if( name.compareTo(SQUARE_PICTURE) == 0 ) { double length = 0.1;
public static void main(String[] arg) throws URISyntaxException { //install ros libuvc_camera driver first to try on usbwebcams String cameraPrefix = "/multisense/left"; String imageTopic = cameraPrefix + "/image_color"; String cameraInfoTopic = cameraPrefix + "/camera_info"; final boolean RUN_JAVA_ROSCORE = false; URI rosMasterURI; if (RUN_JAVA_ROSCORE) { RosCore rosCore = RosCore.newPublic(); rosMasterURI = rosCore.getUri(); } else { // rosMasterURI = new URI("http://cpu0:11311"); rosMasterURI = new URI("http://localhost:11311"); } RosMainNode rosMainNode = new RosMainNode(rosMasterURI, "RosMainNode"); // FiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(5, 6, 0.09), GrayF32.class); FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class); new RosFiducialDetector(rosMainNode, imageTopic, cameraInfoTopic, detector); rosMainNode.execute(); } }
public static void main(String[] args) throws IOException, InterruptedException .squareBinary(new ConfigFiducialBinary(0.063), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);
public static void main(String[] args) throws IOException .squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);
detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(expectedFiducialSize.getDoubleValue()), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);
detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(expectedFiducialSize.getDoubleValue()), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);