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);
}
}
}
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