How to use boofcv.abst.fiducial.calib

/**
 * Detector for a grid of square targets.   All squares must be entirely visible inside the image.
 *
 * @see boofcv.alg.fiducial.calib.grid.DetectSquareGridFiducial
 *
 * @param config Configuration for chessboard detector
 * @return Square grid target detector.
 */
public static CalibrationDetectorSquareGrid squareGrid(ConfigSquareGrid config) {
  config.checkValidity();
  return new CalibrationDetectorSquareGrid(config);
}

  /**
   * Detector for asymmetric grid of circles.  All circles must be entirely inside of the image.
   *
   * @param config Configuration for target
   * @return The detector
   */
  public static CalibrationDetectorCircleAsymmGrid circleAsymmGrid( ConfigCircleAsymmetricGrid config ) {
    config.checkValidity();

    return new CalibrationDetectorCircleAsymmGrid(config);
  }
}

/**
 * Detector for a grid of binary targets.  Allows for squares to be obscured or partially outside of the
 * image.
 *
 * @see CalibrationDetectorSquareFiducialGrid
 *
 * @param config Configuration of binary target
 * @return Detector for binary grid target
 */
public static CalibrationDetectorSquareFiducialGrid binaryGrid(ConfigSquareGridBinary config ) {
  config.checkValidity();
  return new CalibrationDetectorSquareFiducialGrid(config);
}

public void configure(int numRows, int numCols ) {
  config = new ConfigChessboard(numRows, numCols, 1);
}

@Override
protected GrayU8 getBinaryImage() {
  return detector.getDetector().getBinary();
}

@Override
protected GrayU8 getBinaryImage() {
  return detector.getDetector().getBinary();
}

/**
 * Detector for chessboard targets.  Squares can be partially outside, but inside corners must be entirely
 * inside the image.
 *
 * @see DetectChessboardFiducial
 *
 * @param config Configuration for chessboard detector
 * @return Square grid target detector.
 */
public static CalibrationDetectorChessboard chessboard(ConfigChessboard config ) {
  config.checkValidity();
  return new CalibrationDetectorChessboard(config);
}

@Override
protected boolean process(GrayF32 image) {
  return detector.process(image);
}

@Override
protected boolean process(GrayF32 image) {
  return detector.process(image);
}

@Override
protected List<Point2D_F64> getCalibrationPoints() {
  return detector.getKeypointFinder().getKeyPoints().toList();
}

@Override
protected List<Point2D_F64> getCalibrationPoints() {
  return detector.getKeypointFinder().getKeyPoints().toList();
}

public DetectCalibrationSquareGridApp(int numRows , int numColumns ,  double squareWidth, double spaceWidth,
                   boolean forCalibration ,
                   List<String> exampleInputs) {
  super(exampleInputs);
  config = new ConfigSquareGrid(numRows, numColumns, squareWidth,spaceWidth);
  setUpGui(new DetectCalibrationPolygonPanel(numRows,numColumns,config.square,config.thresholding));
  declareDetector();
}

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);
}

public DetectCalibrationCircleHexagonalApp(int numRows , int numColumns ,
                      double circleDiameter, double centerDistance,
                      List<String> exampleInputs) {
  super(exampleInputs);
  setUpGui(new DetectCalibrationCirclePanel(numRows,numColumns,circleDiameter,centerDistance,true));
  config = new ConfigCircleHexagonalGrid(numRows, numColumns, circleDiameter, centerDistance);
  controlPanel.threshold.setConfiguration(config.thresholding);
  declareDetector();
  colorId = new Color[]{Color.RED,Color.BLUE,Color.CYAN,Color.ORANGE};
}

public DetectCalibrationCircleRegularApp(int numRows , int numColumns ,
                     double circleDiameter, double centerDistance,
                     List<String> exampleInputs) {
  super(exampleInputs);
  setUpGui(new DetectCalibrationCirclePanel(numRows,numColumns,circleDiameter,centerDistance,false));
  config = new ConfigCircleRegularGrid(numRows, numColumns, circleDiameter, centerDistance);
  controlPanel.threshold.setConfiguration(config.thresholding);
  declareDetector();
  colorId = new Color[]{Color.RED,Color.BLUE,Color.CYAN,Color.ORANGE};
}

public BoofCVChessboardPoseEstimator(int rows, int cols, double gridWidth)
{
 ConfigChessboard config;
 this.gridWidth=gridWidth;
 config = new ConfigChessboard(cols, rows, gridWidth);
 detector = FactoryFiducial.calibChessboard(config, GrayF32.class);
}

@Override
protected List<EllipseRotated_F64> getFoundEllipses() {
  return detector.getDetector().getEllipseDetector().getFoundEllipses(null);
}

@Override
protected List<EllipseRotated_F64> getFoundEllipses() {
  return detector.getDetector().getEllipseDetector().getFoundEllipses(null);
}

public BoofCVChessboardPoseEstimator(int rows, int cols, double gridWidth)
{
 ConfigChessboard config;
 this.gridWidth=gridWidth;
 config = new ConfigChessboard(cols, rows, gridWidth);
 detector = FactoryFiducial.calibChessboard(config, GrayF32.class);
}

public DetectCalibrationChessboardApp( int numRows , int numColumns ,
                    List<String> exampleInputs) {
  super(exampleInputs);
  config = new ConfigChessboard(numRows, numColumns, 1);
  setUpGui(new DetectCalibrationPolygonPanel(numRows,numColumns,config.square,config.thresholding));
  declareDetector();
}