Examples with SquareNode boofcv.alg.fiducial.calib.squares.SquareNode used on opensource projects

Example 1 with SquareNode

use of boofcv.alg.fiducial.calib.squares.SquareNode in project BoofCV by lessthanoptimal.

the class CommonDetectCalibrationApp method renderGraph.

protected void renderGraph(Graphics2D g2, double scale) {
    List<List<SquareNode>> graphs = getClusters();
    BasicStroke strokeWide = new BasicStroke(3);
    BasicStroke strokeNarrow = new BasicStroke(2);
    Line2D.Double l = new Line2D.Double();
    g2.setStroke(new BasicStroke(3));
    for (int i = 0; i < graphs.size(); i++) {
        List<SquareNode> graph = graphs.get(i);
        int key = graphs.size() == 1 ? 0 : 255 * i / (graphs.size() - 1);
        int rgb = key << 8 | (255 - key);
        g2.setColor(new Color(rgb));
        List<SquareEdge> edges = new ArrayList<>();
        for (SquareNode n : graph) {
            for (int j = 0; j < n.edges.length; j++) {
                if (n.edges[j] != null && !edges.contains(n.edges[j])) {
                    edges.add(n.edges[j]);
                }
            }
        }
        for (SquareEdge e : edges) {
            Point2D_F64 a = e.a.center;
            Point2D_F64 b = e.b.center;
            l.setLine(a.x * scale, a.y * scale, b.x * scale, b.y * scale);
            g2.setColor(Color.CYAN);
            g2.setStroke(strokeWide);
            g2.draw(l);
            g2.setColor(new Color(rgb));
            g2.setStroke(strokeNarrow);
            g2.draw(l);
        }
    }
}

Example 2 with SquareNode

use of boofcv.alg.fiducial.calib.squares.SquareNode in project BoofCV by lessthanoptimal.

the class TestDetectChessboardSquarePoints method createGrid.

public static SquareGrid createGrid(int rows, int cols) {
    SquareGrid grid = new SquareGrid();
    grid.columns = cols;
    grid.rows = rows;
    double w = TestSquareRegularClustersIntoGrids.DEFAULT_WIDTH;
    for (int row = 0; row < rows; row++) {
        for (int col = 0; col < cols; col++) {
            if (row % 2 == 0) {
                if (col % 2 == 0) {
                    grid.nodes.add(createSquare(col * w, row * w, w));
                } else {
                    grid.nodes.add(null);
                }
            } else {
                if (col % 2 == 0) {
                    grid.nodes.add(null);
                } else {
                    grid.nodes.add(createSquare(col * w, row * w, w));
                }
            }
        }
    }
    for (int row = 0; row < rows - 1; row++) {
        for (int col = 0; col < cols; col++) {
            SquareNode n = grid.get(row, col);
            if (n == null)
                continue;
            if (col > 0) {
                SquareNode a = grid.get(row + 1, col - 1);
                connect(n, 3, a, 1);
            }
            if (col < cols - 1) {
                SquareNode a = grid.get(row + 1, col + 1);
                connect(n, 2, a, 0);
            }
        }
    }
    return grid;
}

Example 3 with SquareNode

use of boofcv.alg.fiducial.calib.squares.SquareNode in project BoofCV by lessthanoptimal.

the class TestQrCodePositionPatternDetector method squareNode.

public static SquareNode squareNode(int x0, int y0, int width) {
    Polygon2D_F64 square = square(x0, y0, width);
    SquareNode node = new SquareNode();
    node.square = square;
    node.largestSide = width;
    node.smallestSide = width;
    node.center.set(x0 + width / 2, y0 + width / 2);
    for (int i = 0; i < 4; i++) {
        node.sideLengths[i] = width;
    }
    return node;
}

Example 4 with SquareNode

use of boofcv.alg.fiducial.calib.squares.SquareNode in project BoofCV by lessthanoptimal.

the class TestQrCodePositionPatternDetector method considerConnect_positive.

/**
 * Simple positive example
 */
@Test
public void considerConnect_positive() {
    QrCodePositionPatternDetector<GrayF32> alg = createAlg();
    SquareNode n0 = squareNode(40, 60, 70);
    SquareNode n1 = squareNode(140, 60, 70);
    alg.considerConnect(n0, n1);
    assertEquals(1, n0.getNumberOfConnections());
    assertEquals(1, n1.getNumberOfConnections());
}

Example 5 with SquareNode

use of boofcv.alg.fiducial.calib.squares.SquareNode in project BoofCV by lessthanoptimal.

the class TestQrCodePositionPatternDetector method considerConnect_negative_rotated.

/**
 * The two patterns are rotated 45 degrees relative to each other
 */
@Test
public void considerConnect_negative_rotated() {
    QrCodePositionPatternDetector<GrayF32> alg = createAlg();
    SquareNode n0 = squareNode(40, 60, 70);
    SquareNode n1 = squareNode(140, 60, 70);
    Se2_F64 translate = new Se2_F64(-175, -95, 0);
    Se2_F64 rotate = new Se2_F64(0, 0, UtilAngle.radian(45));
    Se2_F64 tmp = translate.concat(rotate, null);
    Se2_F64 combined = tmp.concat(translate.invert(null), null);
    for (int i = 0; i < 4; i++) {
        SePointOps_F64.transform(combined, n1.square.get(i), n1.square.get(i));
    }
    SePointOps_F64.transform(combined, n1.center, n1.center);
    alg.considerConnect(n0, n1);
    assertEquals(0, n0.getNumberOfConnections());
    assertEquals(0, n1.getNumberOfConnections());
}