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Example 1 with MousePauseHelper

use of boofcv.gui.MousePauseHelper in project BoofCV by lessthanoptimal.

the class ExamplePoseOfCalibrationTarget method main.

public static void main(String[] args) {
    // Load camera calibration
    CameraPinholeRadial intrinsic = CalibrationIO.load(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/intrinsic.yaml"));
    LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(intrinsic);
    // load the video file
    String fileName = UtilIO.pathExample("tracking/chessboard_SonyDSC_01.mjpeg");
    SimpleImageSequence<GrayF32> video = DefaultMediaManager.INSTANCE.openVideo(fileName, ImageType.single(GrayF32.class));
    // DefaultMediaManager.INSTANCE.openCamera(null, 640, 480, ImageType.single(GrayF32.class));
    // Let's use the FiducialDetector interface since it is much easier than coding up
    // the entire thing ourselves.  Look at FiducialDetector's code if you want to understand how it works.
    CalibrationFiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(4, 5, 0.03), GrayF32.class);
    detector.setLensDistortion(lensDistortion, intrinsic.width, intrinsic.height);
    // Get the 2D coordinate of calibration points for visualization purposes
    List<Point2D_F64> calibPts = detector.getCalibrationPoints();
    // Set up visualization
    PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);
    // make the view more interest.  From the side.
    DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI / 2.0, null);
    viewer.setWorldToCamera(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)));
    ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
    viewer.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
    PanelGridPanel gui = new PanelGridPanel(1, imagePanel, viewer);
    gui.setMaximumSize(gui.getPreferredSize());
    ShowImages.showWindow(gui, "Calibration Target Pose", true);
    // Allows the user to click on the image and pause
    MousePauseHelper pauseHelper = new MousePauseHelper(gui);
    // saves the target's center location
    List<Point3D_F64> path = new ArrayList<>();
    // Process each frame in the video sequence
    Se3_F64 targetToCamera = new Se3_F64();
    while (video.hasNext()) {
        // detect calibration points
        detector.detect(video.next());
        if (detector.totalFound() == 1) {
            detector.getFiducialToCamera(0, targetToCamera);
            // Visualization.  Show a path with green points and the calibration points in black
            viewer.reset();
            Point3D_F64 center = new Point3D_F64();
            SePointOps_F64.transform(targetToCamera, center, center);
            path.add(center);
            for (Point3D_F64 p : path) {
                viewer.addPoint(p.x, p.y, p.z, 0x00FF00);
            }
            for (int j = 0; j < calibPts.size(); j++) {
                Point2D_F64 p = calibPts.get(j);
                Point3D_F64 p3 = new Point3D_F64(p.x, p.y, 0);
                SePointOps_F64.transform(targetToCamera, p3, p3);
                viewer.addPoint(p3.x, p3.y, p3.z, 0);
            }
        }
        imagePanel.setImage((BufferedImage) video.getGuiImage());
        viewer.repaint();
        imagePanel.repaint();
        BoofMiscOps.pause(30);
        while (pauseHelper.isPaused()) {
            BoofMiscOps.pause(30);
        }
    }
}
Also used : Point3D_F64(georegression.struct.point.Point3D_F64) LensDistortionNarrowFOV(boofcv.alg.distort.LensDistortionNarrowFOV) DMatrixRMaj(org.ejml.data.DMatrixRMaj) ArrayList(java.util.ArrayList) LensDistortionRadialTangential(boofcv.alg.distort.radtan.LensDistortionRadialTangential) Vector3D_F64(georegression.struct.point.Vector3D_F64) PanelGridPanel(boofcv.gui.PanelGridPanel) GrayF32(boofcv.struct.image.GrayF32) CameraPinholeRadial(boofcv.struct.calib.CameraPinholeRadial) Point2D_F64(georegression.struct.point.Point2D_F64) PointCloudViewer(boofcv.gui.d3.PointCloudViewer) ConfigChessboard(boofcv.abst.fiducial.calib.ConfigChessboard) Se3_F64(georegression.struct.se.Se3_F64) ImagePanel(boofcv.gui.image.ImagePanel) MousePauseHelper(boofcv.gui.MousePauseHelper)

Aggregations

ConfigChessboard (boofcv.abst.fiducial.calib.ConfigChessboard)1 LensDistortionNarrowFOV (boofcv.alg.distort.LensDistortionNarrowFOV)1 LensDistortionRadialTangential (boofcv.alg.distort.radtan.LensDistortionRadialTangential)1 MousePauseHelper (boofcv.gui.MousePauseHelper)1 PanelGridPanel (boofcv.gui.PanelGridPanel)1 PointCloudViewer (boofcv.gui.d3.PointCloudViewer)1 ImagePanel (boofcv.gui.image.ImagePanel)1 CameraPinholeRadial (boofcv.struct.calib.CameraPinholeRadial)1 GrayF32 (boofcv.struct.image.GrayF32)1 Point2D_F64 (georegression.struct.point.Point2D_F64)1 Point3D_F64 (georegression.struct.point.Point3D_F64)1 Vector3D_F64 (georegression.struct.point.Vector3D_F64)1 Se3_F64 (georegression.struct.se.Se3_F64)1 ArrayList (java.util.ArrayList)1 DMatrixRMaj (org.ejml.data.DMatrixRMaj)1