/
ExamplePoseOfCalibrationTarget.java
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/
ExamplePoseOfCalibrationTarget.java
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/*
* Copyright (c) 2022, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.examples.fiducial;
import boofcv.abst.fiducial.CalibrationFiducialDetector;
import boofcv.abst.fiducial.calib.ConfigGridDimen;
import boofcv.alg.distort.LensDistortionNarrowFOV;
import boofcv.alg.distort.brown.LensDistortionBrown;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.factory.fiducial.FactoryFiducial;
import boofcv.gui.MousePauseHelper;
import boofcv.gui.PanelGridPanel;
import boofcv.gui.image.ImagePanel;
import boofcv.gui.image.ShowImages;
import boofcv.io.UtilIO;
import boofcv.io.calibration.CalibrationIO;
import boofcv.io.image.SimpleImageSequence;
import boofcv.io.wrapper.DefaultMediaManager;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.calib.CameraPinholeBrown;
import boofcv.struct.image.GrayF32;
import boofcv.struct.image.ImageType;
import boofcv.visualize.PointCloudViewer;
import boofcv.visualize.VisualizeData;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Vector3D_F64;
import georegression.struct.se.Se3_F64;
import georegression.transform.se.SePointOps_F64;
import org.ejml.data.DMatrixRMaj;
import java.awt.*;
import java.awt.image.BufferedImage;
import java.util.ArrayList;
import java.util.List;
/**
* The 6-DOF pose of calibration targets can be estimated very accurately[*] once a camera has been calibrated.
* In this example the high level FiducialDetector interface is used with a chessboard calibration target to
* process a video sequence. Once the pose of the target is known the location of each calibration point is
* found in the camera frame and visualized.
*
* [*] Accuracy is dependent on a variety of factors. Calibration targets are primarily designed to be viewed up close
* and their accuracy drops with range, as can be seen in this example.
*
* @author Peter Abeles
*/
public class ExamplePoseOfCalibrationTarget {
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);
viewer.setBackgroundColor(0xFFFFFF); // white background
// 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);
}
}
}
}