- increased size of border in square fiducials to improve performance…

… at small acute angles

applications/src/boofcv/app/CreateFiducialSquareBinaryEPS.java

@@ -28,7 +28,6 @@
  */
 public class CreateFiducialSquareBinaryEPS {
 
-	public static String fileName = "pattern.eps";
 	public static int number = 284;
 	public static double width = 10;
 
@@ -62,6 +61,7 @@ public static void main(String[] args) throws FileNotFoundException {
 		number &= 0x0FFF;
 
 		System.out.println("Target width "+width+" (cm)  number = "+number);
+		String fileName = String.format("square%04d.eps",number);
 
 		// print out the selected number in binary for debugging purposes
 		for (int i = 0; i < 12; i++) {

examples/src/boofcv/examples/fiducial/ExampleFiducialImage.java

@@ -45,8 +45,9 @@ public static void main(String[] args) {
 
 		String directory = "../data/applet/fiducial/image/";
 
-		String imageName = "view01.jpg";
-//		String imageName = "view02.jpg";
+		String imageName = "image0000.jpg";
+//		String imageName = "image0001.jpg";
+//		String imageName = "image0002.jpg";
 
 		// load the lens distortion parameters and the input image
 		IntrinsicParameters param = UtilIO.loadXML(directory + "intrinsic.xml");
@@ -62,8 +63,8 @@ public static void main(String[] args) {
 		ImageFloat32 dog = UtilImageIO.loadImage(directory + "dog.png",ImageFloat32.class);
 		detector.addTarget(dog, 125);
 		// uncomment to detect the text target
-//		ImageFloat32 text = UtilImageIO.loadImage(directory + "text.png",ImageFloat32.class);
-//		detector.addTarget(text, 125);
+		ImageFloat32 text = UtilImageIO.loadImage(directory + "text.png",ImageFloat32.class);
+		detector.addTarget(text, 125);
 
 		detector.setIntrinsic(param);
 

examples/src/boofcv/examples/fiducial/ExampleFiducialNumber.java

@@ -47,7 +47,9 @@ public static void main(String[] args) {
 
 		// load the lens distortion parameters and the input image
 		IntrinsicParameters param = UtilIO.loadXML(directory + "intrinsic.xml");
-		BufferedImage input = UtilImageIO.loadImage(directory + "angled00_643_284.jpg");
+		BufferedImage input = UtilImageIO.loadImage(directory + "image0000.jpg");
+//		BufferedImage input = UtilImageIO.loadImage(directory + "image0001.jpg");
+//		BufferedImage input = UtilImageIO.loadImage(directory + "image0002.jpg");
 		ImageFloat32 original = ConvertBufferedImage.convertFrom(input,true, ImageType.single(ImageFloat32.class));
 
 		// Detect the fiducial

integration/WebcamCapture/examples/boofcv/examples/ExampleCollectImages.java

@@ -40,7 +40,7 @@ public class ExampleCollectImages {
 	public static void main(String[] args) {
 
 		// Open a webcam at a resolution close to 640x480
-		Webcam webcam = Webcam.getWebcams().get(1);
+		Webcam webcam = Webcam.getWebcams().get(0);
 		UtilWebcamCapture.adjustResolution(webcam,640,480);
 		webcam.open();
 

main/recognition/build.gradle

@@ -5,6 +5,7 @@ dependencies {
     compile project(':main:sfm')
 
     testCompile project(':main:io')
+    testCompile project(':main:visualize')
 }
 
 idea {

main/recognition/src/boofcv/alg/fiducial/DetectFiducialSquareBinary.java

@@ -69,7 +69,7 @@ public class DetectFiducialSquareBinary<T extends ImageSingleBand>
 	public DetectFiducialSquareBinary(InputToBinary<T> thresholder,
 									  SplitMergeLineFitLoop fitPolygon,
 									  double minContourFraction, Class<T> inputType) {
-		super(thresholder,fitPolygon, w*6, minContourFraction, inputType);
+		super(thresholder,fitPolygon, w*8, minContourFraction, inputType);
 
 		int widthNoBorder = w*4;
 

main/recognition/src/boofcv/alg/fiducial/DetectFiducialSquareImage.java

@@ -74,7 +74,7 @@ public class DetectFiducialSquareImage<T extends ImageSingleBand>
 	public DetectFiducialSquareImage(InputToBinary<T> thresholder,
 									 SplitMergeLineFitLoop fitPolygon,
 									 double minContourFraction, double matchThreshold, Class<T> inputType) {
-		super(thresholder,fitPolygon, squareLength+2*w, minContourFraction, inputType);
+		super(thresholder,fitPolygon, squareLength+squareLength, minContourFraction, inputType);
 
 		hammingThreshold = (int)(squareLength*squareLength*matchThreshold);
 

main/recognition/test/boofcv/alg/fiducial/TestDetectFiducialSquareBinary.java

@@ -73,7 +73,9 @@ public void processSquare_negative() {
 
 	public static ImageFloat32 create( int square , int value ) {
 
-		ImageFloat32 ret = new ImageFloat32(square*6,square*6);
+		ImageFloat32 ret = new ImageFloat32(square*8,square*8);
+
+		int s2 = 2*square;
 
 		for (int i = 0; i < 12; i++) {
 			if( (value& (1<<i)) != 0 )
@@ -83,15 +85,14 @@ public static ImageFloat32 create( int square , int value ) {
 			int x = where%4;
 			int y = 3-(where/4);
 
-			x = square + square*x;
-			y = square + square*y;
-
+			x = s2 + square*x;
+			y = s2 + square*y;
 
 			ImageMiscOps.fillRectangle(ret,0xFF,x,y,square,square);
 		}
-		ImageMiscOps.fillRectangle(ret,0xFF,square,square,square,square);
-		ImageMiscOps.fillRectangle(ret,0xFF,square*4,square*4,square,square);
-		ImageMiscOps.fillRectangle(ret,0xFF,square*4,square,square,square);
+		ImageMiscOps.fillRectangle(ret,0xFF,s2,s2,square,square);
+		ImageMiscOps.fillRectangle(ret,0xFF,square*5,square*5,square,square);
+		ImageMiscOps.fillRectangle(ret,0xFF,square*5,s2,square,square);
 
 		return ret;
 	}

main/recognition/test/boofcv/alg/fiducial/TestDetectFiducialSquareImage.java

@@ -49,11 +49,16 @@ public void processSquare() {
 		PixelMath.multiply(pattern,255,pattern);
 
 		// add a border around it
-		ImageUInt8 border = new ImageUInt8(16*6,16*6);
-		border.subimage(16,16,16*5,16*5,null).setTo(pattern);
+		ImageUInt8 border = new ImageUInt8(16*8,16*8);
+		border.subimage(16*2,16*2,16*6,16*6,null).setTo(pattern);
 		ImageFloat32 input = new ImageFloat32(border.width,border.height);
 		ConvertImage.convert(border,input);
 
+//		BufferedImage foo = ConvertBufferedImage.convertTo(input,null);
+//		ShowImages.showWindow(foo,"target");
+//
+//		BoofMiscOps.pause(10000);
+
 		// process it in different orientations
 		DetectFiducialSquareImage<ImageUInt8> alg =
 				new DetectFiducialSquareImage<ImageUInt8>(null,null,0.2,0.1,ImageUInt8.class);
@@ -72,7 +77,7 @@ public void processSquare() {
 		// give it a random input that shouldn't match
 		ImageMiscOps.fillUniform(pattern, rand, 0, 2);
 		PixelMath.multiply(pattern, 255, pattern);
-		border.subimage(16,16,16*5,16*5,null).setTo(pattern);
+		border.subimage(16*2,16*2,16*6,16*6,null).setTo(pattern);
 		ConvertImage.convert(border,input);
 		assertFalse(alg.processSquare(input, result));
 	}