feature/multi-target

- EcoCheck correctly labels detections now
- Removed getMarkerID() as it is redundant
- Added unit test to catch this bug in the future

main/boofcv-geo/src/main/java/boofcv/abst/geo/calibration/DetectMultiFiducialCalibration.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -24,6 +24,8 @@
 import georegression.struct.point.Point2D_F64;
 import org.jetbrains.annotations.Nullable;
 
+import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 
 /**
@@ -43,9 +45,6 @@ public interface DetectMultiFiducialCalibration {
 	/** Returns the number of detected markers */
 	int getDetectionCount();
 
-	/** Returns which marker was seen for a particular detection */
-	int getMarkerID( int detectionID );
-
 	/** Returns the number of unique markers that it can detect */
 	int getTotalUniqueMarkers();
 
@@ -66,6 +65,35 @@ public interface DetectMultiFiducialCalibration {
 	 */
 	List<Point2D_F64> getLayout( int markerID );
 
+	/**
+	 * Returns the layout for all markers as a list.
+	 */
+	default List<List<Point2D_F64>> getLayouts() {
+		var list = new ArrayList<List<Point2D_F64>>();
+		for (int i = 0; i < getTotalUniqueMarkers(); i++) {
+			list.add(getLayout(i));
+		}
+		return list;
+	}
+
+	/**
+	 * Returns the observations with the most detected landmarks for each specific target
+	 */
+	default List<CalibrationObservation> getBestForEachTarget() {
+		var markerToObservations = new HashMap<Integer, CalibrationObservation>();
+		for (int i = 0; i < getDetectionCount(); i++) {
+			CalibrationObservation o = getDetectedPoints(i);
+			CalibrationObservation previousBest = markerToObservations.get(o.target);
+
+			// First time it's seen this target ID or if the new observation has more points
+			if (previousBest == null || previousBest.size() < o.size()) {
+				markerToObservations.put(o.target, o);
+			}
+		}
+
+		return new ArrayList<>(markerToObservations.values());
+	}
+
 	/**
 	 * Explicitly handles lens distortion when detecting image features. If used, features will be found in
 	 * undistorted pixel coordinates

main/boofcv-geo/src/main/java/boofcv/abst/geo/calibration/MultiToSingleFiducialCalibration.java

@@ -61,7 +61,8 @@ public MultiToSingleFiducialCalibration( int target, DetectMultiFiducialCalibrat
 
 		detectedIndex = -1;
 		for (int i = 0; i < multi.getDetectionCount(); i++) {
-			if (multi.getMarkerID(i) == targetMarker) {
+			CalibrationObservation o = multi.getDetectedPoints(i);
+			if (o.target == targetMarker) {
 				detectedIndex = i;
 				break;
 			}

main/boofcv-recognition/src/main/java/boofcv/abst/fiducial/calib/CalibrationDetectorMultiECoCheck.java

@@ -75,10 +75,6 @@ public CalibrationDetectorMultiECoCheck( ECoCheckDetector<GrayF32> detector,
 		return detector.getFound().size;
 	}
 
-	@Override public int getMarkerID( int detectionID ) {
-		return detector.getFound().get(detectionID).markerID;
-	}
-
 	@Override public int getTotalUniqueMarkers() {
 		return detector.getUtils().markers.size();
 	}
@@ -87,6 +83,7 @@ public CalibrationDetectorMultiECoCheck( ECoCheckDetector<GrayF32> detector,
 		FastAccess<PointIndex2D_F64> original = detector.getFound().get(detectionID).corners;
 
 		var found = new CalibrationObservation();
+		found.target = detector.getFound().get(detectionID).markerID;
 		for (int i = 0; i < original.size; i++) {
 			found.points.add(original.get(i).copy());
 		}

main/boofcv-recognition/src/test/java/boofcv/abst/fiducial/calib/GenericDetectMultiFiducialCalibrationChecks.java

@@ -19,6 +19,7 @@
 package boofcv.abst.fiducial.calib;
 
 import boofcv.abst.geo.calibration.DetectMultiFiducialCalibration;
+import boofcv.alg.geo.calibration.CalibrationObservation;
 import boofcv.gui.image.ShowImages;
 import boofcv.io.image.UtilImageIO;
 import boofcv.misc.BoofMiscOps;
@@ -33,6 +34,7 @@
 import org.junit.jupiter.api.Test;
 
 import java.util.ArrayList;
+import java.util.HashSet;
 import java.util.List;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
@@ -81,21 +83,27 @@ public abstract class GenericDetectMultiFiducialCalibrationChecks extends BoofSt
 //			BoofMiscOps.sleep(2_000);
 
 			// Number of markers which are not anonymous
-			int totalIdentified = 0;
+			var foundTargets = new HashSet<Integer>();
 			for (int i = 0; i < detector.getDetectionCount(); i++) {
-				if (detector.getMarkerID(i) >= 0)
-					totalIdentified++;
+				CalibrationObservation o = detector.getDetectedPoints(i);
+				if (o.target < 0)
+					continue;
+				foundTargets.add(o.target);
 			}
 
-			if (visualizeFailures && 2 != totalIdentified) {
+			// See if each target was found
+			assertTrue(foundTargets.contains(0));
+			assertTrue(foundTargets.contains(1));
+			assertEquals(2, foundTargets.size());
+
+			if (visualizeFailures && 2 != foundTargets.size()) {
 				UtilImageIO.saveImage(simulator.getOutput(), "failed.png");
 				ShowImages.showWindow(simulator.getOutput(), "Simulated");
 				BoofMiscOps.sleep(10_000);
 			}
-			assertEquals(2, totalIdentified);
 
 			for (int i = 0; i < detector.getDetectionCount(); i++) {
-				int markerID = detector.getMarkerID(i);
+				int markerID = detector.getDetectedPoints(i).target;
 
 				// Ignore anonymous markers
 				if (markerID < 0)