Examples with PanelGridPanel boofcv.gui.PanelGridPanel used on opensource projects

Example 1 with PanelGridPanel

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

the class ExampleDenseOpticalFlow method main.

public static void main(String[] args) {
    MediaManager media = DefaultMediaManager.INSTANCE;
    // String fileName0 = UtilIO.pathExample("denseflow/dogdance07.png");
    // String fileName1 = UtilIO.pathExample("denseflow/dogdance08.png");
    String fileName0 = UtilIO.pathExample("denseflow/Urban2_07.png");
    String fileName1 = UtilIO.pathExample("denseflow/Urban2_08.png");
    // String fileName0 = UtilIO.pathExample("denseflow/Grove2_07.png");
    // String fileName1 = UtilIO.pathExample("denseflow/Grove2_09.png");
    DenseOpticalFlow<GrayF32> denseFlow = // FactoryDenseOpticalFlow.hornSchunckPyramid(null,GrayF32.class);
    FactoryDenseOpticalFlow.broxWarping(null, GrayF32.class);
    BufferedImage buff0 = media.openImage(fileName0);
    BufferedImage buff1 = media.openImage(fileName1);
    GrayF32 full = new GrayF32(buff0.getWidth(), buff0.getHeight());
    // Dense optical flow is very computationally expensive. Just process the image at 1/2 resolution
    GrayF32 previous = new GrayF32(full.width / 2, full.height / 2);
    GrayF32 current = previous.createSameShape();
    ImageFlow flow = new ImageFlow(previous.width, previous.height);
    ConvertBufferedImage.convertFrom(buff0, full);
    new FDistort(full, previous).scaleExt().apply();
    ConvertBufferedImage.convertFrom(buff1, full);
    new FDistort(full, current).scaleExt().apply();
    // compute dense motion
    denseFlow.process(previous, current, flow);
    // Visualize the results
    PanelGridPanel gui = new PanelGridPanel(1, 2);
    BufferedImage converted0 = new BufferedImage(current.width, current.height, BufferedImage.TYPE_INT_RGB);
    BufferedImage converted1 = new BufferedImage(current.width, current.height, BufferedImage.TYPE_INT_RGB);
    BufferedImage visualized = new BufferedImage(current.width, current.height, BufferedImage.TYPE_INT_RGB);
    ConvertBufferedImage.convertTo(previous, converted0, true);
    ConvertBufferedImage.convertTo(current, converted1, true);
    VisualizeOpticalFlow.colorized(flow, 10, visualized);
    AnimatePanel animate = new AnimatePanel(150, converted0, converted1);
    gui.add(animate);
    gui.add(visualized);
    animate.start();
    ShowImages.showWindow(gui, "Dense Optical Flow", true);
}

Example 2 with PanelGridPanel

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

the class ExamplePoseOfCalibrationTarget method main.

public static void main(String[] args) {
    // Load camera calibration
    CameraPinholeBrown intrinsic = CalibrationIO.load(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/intrinsic.yaml"));
    LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(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.calibChessboardX(null, new ConfigGridDimen(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 = VisualizeData.createPointCloudViewer();
    viewer.setCameraHFov(PerspectiveOps.computeHFov(intrinsic));
    viewer.setTranslationStep(0.01);
    // white background
    viewer.setBackgroundColor(0xFFFFFF);
    // make the view more interest. From the side.
    DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI / 2.0, null);
    viewer.setCameraToWorld(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)).invert(null));
    var imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
    var viewerComponent = viewer.getComponent();
    viewerComponent.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
    var gui = new PanelGridPanel(1, imagePanel, viewerComponent);
    gui.setMaximumSize(gui.getPreferredSize());
    ShowImages.showWindow(gui, "Calibration Target Pose", true);
    // Allows the user to click on the image and pause
    var pauseHelper = new MousePauseHelper(gui);
    // saves the target's center location
    var path = new ArrayList<Point3D_F64>();
    // Process each frame in the video sequence
    var 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.clearPoints();
            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());
        viewerComponent.repaint();
        imagePanel.repaint();
        BoofMiscOps.pause(30);
        while (pauseHelper.isPaused()) {
            BoofMiscOps.pause(30);
        }
    }
}