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Example 6 with AccessPointTracks3D

use of boofcv.abst.sfm.AccessPointTracks3D in project MAVSlam by ecmnet.

the class StreamRealSenseTest method start.

@Override
public void start(Stage primaryStage) {
    primaryStage.setTitle("BoofCV RealSense Demo");
    FlowPane root = new FlowPane();
    root.getChildren().add(ivrgb);
    ivrgb.setOnMouseMoved(event -> {
        MouseEvent ev = event;
        mouse_x = (int) ev.getX();
        mouse_y = (int) ev.getY();
    });
    // RealSenseInfo info = new RealSenseInfo(320,240, RealSenseInfo.MODE_RGB);
    RealSenseInfo info = new RealSenseInfo(640, 480, RealSenseInfo.MODE_RGB);
    try {
        realsense = new StreamRealSenseVisDepth(0, info);
    } catch (Exception e) {
        System.out.println("REALSENSE:" + e.getMessage());
        return;
    }
    mouse_x = info.width / 2;
    mouse_y = info.height / 2;
    primaryStage.setScene(new Scene(root, info.width, info.height));
    primaryStage.show();
    PkltConfig configKlt = new PkltConfig();
    configKlt.pyramidScaling = new int[] { 1, 2, 4, 8 };
    configKlt.templateRadius = 3;
    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(900, 2, 1), GrayU8.class, GrayS16.class);
    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<GrayU16>(1e-3);
    // declares the algorithm
    MAVDepthVisualOdometry<GrayU8, GrayU16> visualOdometry = FactoryMAVOdometry.depthDepthPnP(1.2, 120, 2, 200, 50, true, sparseDepth, tracker, GrayU8.class, GrayU16.class);
    visualOdometry.setCalibration(realsense.getIntrinsics(), new DoNothingPixelTransform_F32());
    output = new BufferedImage(info.width, info.height, BufferedImage.TYPE_3BYTE_BGR);
    wirgb = new WritableImage(info.width, info.height);
    ivrgb.setImage(wirgb);
    realsense.registerListener(new Listener() {

        int fps;

        float mouse_depth;

        float md;

        int mc;

        int mf = 0;

        int fpm;

        @Override
        public void process(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
            if ((System.currentTimeMillis() - tms) > 250) {
                tms = System.currentTimeMillis();
                if (mf > 0)
                    fps = fpm / mf;
                if (mc > 0)
                    mouse_depth = md / mc;
                mc = 0;
                md = 0;
                mf = 0;
                fpm = 0;
            }
            mf++;
            fpm += (int) (1f / ((timeRgb - oldTimeDepth) / 1000f) + 0.5f);
            oldTimeDepth = timeRgb;
            if (!visualOdometry.process(rgb.getBand(0), depth)) {
                bus1.writeObject(position);
                System.out.println("VO Failed!");
                visualOdometry.reset();
                return;
            }
            Se3_F64 leftToWorld = visualOdometry.getCameraToWorld();
            Vector3D_F64 T = leftToWorld.getT();
            AccessPointTracks3D points = (AccessPointTracks3D) visualOdometry;
            ConvertBufferedImage.convertTo(rgb, output, false);
            Graphics c = output.getGraphics();
            int count = 0;
            float total = 0;
            int dx = 0, dy = 0;
            int dist = 999;
            int x, y;
            int index = -1;
            for (int i = 0; i < points.getAllTracks().size(); i++) {
                if (points.isInlier(i)) {
                    c.setColor(Color.BLUE);
                    x = (int) points.getAllTracks().get(i).x;
                    y = (int) points.getAllTracks().get(i).y;
                    int d = depth.get(x, y);
                    if (d > 0) {
                        int di = (int) Math.sqrt((x - mouse_x) * (x - mouse_x) + (y - mouse_y) * (y - mouse_y));
                        if (di < dist) {
                            index = i;
                            dx = x;
                            dy = y;
                            dist = di;
                        }
                        total++;
                        if (d < 500) {
                            c.setColor(Color.RED);
                            count++;
                        }
                        c.drawRect(x, y, 1, 1);
                    }
                }
            }
            if (depth != null) {
                if (index > -1)
                    System.out.println(visualOdometry.getTrackLocation(index));
                mc++;
                md = md + depth.get(dx, dy) / 1000f;
                c.setColor(Color.GREEN);
                c.drawOval(dx - 3, dy - 3, 6, 6);
            }
            c.setColor(Color.CYAN);
            c.drawString("Fps:" + fps, 10, 20);
            c.drawString(String.format("Loc: %4.2f %4.2f %4.2f", T.x, T.y, T.z), 10, info.height - 10);
            c.drawString(String.format("Depth: %3.2f", mouse_depth), info.width - 85, info.height - 10);
            position.x = T.x;
            position.y = T.y;
            position.z = T.z;
            position.tms = timeRgb;
            bus1.writeObject(position);
            if ((count / total) > 0.6f) {
                c.setColor(Color.RED);
                c.drawString("WARNING!", info.width - 70, 20);
            }
            c.dispose();
            Platform.runLater(() -> {
                SwingFXUtils.toFXImage(output, wirgb);
            });
        }
    }).start();
}
Also used : Listener(com.comino.realsense.boofcv.StreamRealSenseVisDepth.Listener) PkltConfig(boofcv.alg.tracker.klt.PkltConfig) ConfigGeneralDetector(boofcv.abst.feature.detect.interest.ConfigGeneralDetector) AccessPointTracks3D(boofcv.abst.sfm.AccessPointTracks3D) BufferedImage(java.awt.image.BufferedImage) ConvertBufferedImage(boofcv.io.image.ConvertBufferedImage) FlowPane(javafx.scene.layout.FlowPane) Planar(boofcv.struct.image.Planar) GrayU8(boofcv.struct.image.GrayU8) MouseEvent(javafx.scene.input.MouseEvent) GrayU16(boofcv.struct.image.GrayU16) Scene(javafx.scene.Scene) Graphics(java.awt.Graphics) WritableImage(javafx.scene.image.WritableImage) DoNothingPixelTransform_F32(boofcv.alg.distort.DoNothingPixelTransform_F32) Vector3D_F64(georegression.struct.point.Vector3D_F64) Se3_F64(georegression.struct.se.Se3_F64)

Example 7 with AccessPointTracks3D

use of boofcv.abst.sfm.AccessPointTracks3D in project MAVSlam by ecmnet.

the class MAVVisualPositionEstimator method overlayFeatures.

private void overlayFeatures(Graphics ctx) {
    AccessPointTracks3D points = (AccessPointTracks3D) visualOdometry;
    for (int i = 0; i < points.getAllTracks().size(); i++) {
        if (points.isInlier(i))
            ctx.drawRect((int) points.getAllTracks().get(i).x, (int) points.getAllTracks().get(i).y, 1, 1);
    }
    if (points.getAllTracks().size() == 0)
        ctx.drawString("No odometry", info.width - 90, 20);
    else if (quality < min_quality)
        ctx.drawString("Low quality", info.width - 85, 20);
    else
        ctx.drawString((int) fps + " fps", info.width - 50, 20);
    if (!Float.isNaN(model.sys.t_armed_ms) && model.sys.isStatus(Status.MSP_ARMED))
        ctx.drawString(String.format("%.1f sec", model.sys.t_armed_ms / 1000), 20, 20);
}
Also used : AccessPointTracks3D(boofcv.abst.sfm.AccessPointTracks3D)

Example 8 with AccessPointTracks3D

use of boofcv.abst.sfm.AccessPointTracks3D in project MAVSlam by ecmnet.

the class MAVPositionEstimator method overlayFeatures.

private void overlayFeatures(Graphics ctx) {
    AccessPointTracks3D points = (AccessPointTracks3D) visualOdometry;
    for (int i = 0; i < points.getAllTracks().size(); i++) {
        if (points.isInlier(i))
            ctx.drawRect((int) points.getAllTracks().get(i).x, (int) points.getAllTracks().get(i).y, 1, 1);
    }
    ctx.drawString((int) fps + " fps", info.width - 50, 20);
}
Also used : AccessPointTracks3D(boofcv.abst.sfm.AccessPointTracks3D)

Aggregations

AccessPointTracks3D (boofcv.abst.sfm.AccessPointTracks3D)8 Point3D_F64 (georegression.struct.point.Point3D_F64)2 Se3_F64 (georegression.struct.se.Se3_F64)2 ConfigGeneralDetector (boofcv.abst.feature.detect.interest.ConfigGeneralDetector)1 DoNothingPixelTransform_F32 (boofcv.alg.distort.DoNothingPixelTransform_F32)1 PkltConfig (boofcv.alg.tracker.klt.PkltConfig)1 ConvertBufferedImage (boofcv.io.image.ConvertBufferedImage)1 GrayU16 (boofcv.struct.image.GrayU16)1 GrayU8 (boofcv.struct.image.GrayU8)1 Planar (boofcv.struct.image.Planar)1 Listener (com.comino.realsense.boofcv.StreamRealSenseVisDepth.Listener)1 Point2D_F64 (georegression.struct.point.Point2D_F64)1 Vector3D_F64 (georegression.struct.point.Vector3D_F64)1 Graphics (java.awt.Graphics)1 BufferedImage (java.awt.image.BufferedImage)1 Scene (javafx.scene.Scene)1 WritableImage (javafx.scene.image.WritableImage)1 MouseEvent (javafx.scene.input.MouseEvent)1 FlowPane (javafx.scene.layout.FlowPane)1 org.mavlink.messages.lquac.msg_debug_vect (org.mavlink.messages.lquac.msg_debug_vect)1