How to use

ConfigFiducialBinary

in

boofcv.factory.fiducial

  @Override
  public void notifyOfVariableChange(YoVariable<?> v)
  {
   synchronized (expectedFiducialSizeChangedConch)
   {
     detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(expectedFiducialSize.getDoubleValue()), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);
   }
  }
});

/**
 * 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);
}

  @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);

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);

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);

public static void main(String[] args) throws IOException
    .squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10), GrayF32.class);