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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2011-2016, 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.app;
import boofcv.abst.fiducial.FiducialDetector;
import boofcv.abst.fiducial.SquareImage_to_FiducialDetector;
import boofcv.abst.fiducial.calib.ConfigChessboard;
import boofcv.abst.fiducial.calib.ConfigSquareGrid;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.factory.fiducial.ConfigFiducialBinary;
import boofcv.factory.fiducial.ConfigFiducialImage;
import boofcv.factory.fiducial.FactoryFiducial;
import boofcv.factory.filter.binary.ConfigThreshold;
import boofcv.factory.filter.binary.ThresholdType;
import boofcv.gui.fiducial.VisualizeFiducial;
import boofcv.gui.image.ImagePanel;
import boofcv.gui.image.ShowImages;
import boofcv.io.MediaManager;
import boofcv.io.UtilIO;
import boofcv.io.image.ConvertBufferedImage;
import boofcv.io.image.SimpleImageSequence;
import boofcv.io.image.UtilImageIO;
import boofcv.io.wrapper.DefaultMediaManager;
import boofcv.struct.calib.IntrinsicParameters;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.ImageType;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.struct.se.Se3_F64;
import georegression.struct.so.Quaternion_F64;
import org.ddogleg.struct.GrowQueue_F64;
import java.awt.*;
import java.awt.image.BufferedImage;
import java.io.FileNotFoundException;
import java.io.PrintStream;
import java.util.ArrayList;
import java.util.List;
/**
* Command line application for detecting different types of fiducials in different types of input methods.
*
* @author Peter Abeles
*/
public class FiducialDetection extends BaseStandardInputApp {
public static final int DEFAULT_THRESHOLD = 100;
// path to intrinsic file
String intrinsicPath;
// path to where the results should be stored
String outputPath;
PrintStream outputFile;
FiducialDetector detector;
void printHelp() {
System.out.println("java -jar BLAH ");
System.out.println();
System.out.println(" Detects different types of fiducials inside of webcam streams, video files, or still images.");
System.out.println(" Results are visualized in a window and optionally saved to file.");
System.out.println();
System.out.println("----------------------------------- Input Flags -----------------------------------------");
System.out.println();
printInputHelp();
System.out.println();
System.out.println("----------------------------------- Other Flags -----------------------------------------");
System.out.println();
System.out.println("These flags are common for all input methods. They can be specified any time before the");
System.out.println("fidcuial flags are specified");
System.out.println();
System.out.println(" --Intrinsic= Specifies location of the intrinsic parameters file.");
System.out.println(" DEFAULT: Make a crude guess.");
System.out.println();
System.out.println(" --OutputFile= Writes the ID and pose of detected fiducials out to a file");
System.out.println(" File format is described in the file's header.");
System.out.println();
System.out.println("----------------------------------- Fiducial Flags --------------------------------------");
System.out.println();
System.out.println("Fiducial Types:");
System.out.println(" BINARY");
System.out.println(" IMAGE");
System.out.println(" CHESSBOARD");
System.out.println(" SQUAREGRID");
System.out.println();
System.out.println("Flags for BINARY");
System.out.println();
System.out.println(" --Robust= If slower but more robust technique should be used");
System.out.println(" DEFAULT: true");
System.out.println(" --Size= Specifies the size of all the fiducials");
System.out.println(" DEFAULT: 1");
System.out.println(" --GridWidth= Specifies how many inner squares to expect in the fiducial.");
System.out.println(" Valid options: 3 to 8");
System.out.println(" Default is 4");
System.out.println(" --Border= Specifies relative width of the border.");
System.out.println(" DEFAULT: 0.25");
System.out.println();
System.out.println("Flags for IMAGE");
System.out.println();
System.out.println(" --Robust= If slower but more robust technique should be used");
System.out.println(" DEFAULT: true");
System.out.println(" --Image=: Adds a single image with the specified size");
System.out.println(" Can be called multiple times for several images");
System.out.println(" --Border= Specifies relative width of the border.");
System.out.println(" DEFAULT: 0.25");
System.out.println("Flags for CHESSBOARD");
System.out.println();
System.out.println(" --Shape=: Number of rows/columns it expects to see");
System.out.println(" --SquareWidth= The width of each square");
System.out.println(" Can be called multiple times for several images");
System.out.println(" DEFAULT: 1");
System.out.println("Flags for SQUAREGRID");
System.out.println();
System.out.println(" --Shape=: Number of rows/columns it expects to see");
System.out.println(" --SquareWidth= The width of each square");
System.out.println(" DEFAULT: 1");
System.out.println(" --Space= The space between each square");
System.out.println(" DEFAULT: Same as SquareWidth");
System.out.println();
System.out.println("Examples:");
System.out.println();
System.out.println("./application BINARY --Size=1 --GridWidth=3");
System.out.println(" Opens the default camera at default resolution looking for a 3x3 binary patterns with a width of 1");
System.out.println();
System.out.println("./application --Camera=1 --Resolution=640:480 BINARY --Robust=false --Size=1");
System.out.println(" Opens the camera 1 at a resolution of 640x480 using a fast thresholding technique, ");
System.out.println(" looking for 4x4 binary patterns with a width of 1");
System.out.println();
System.out.println("./application -ImageFile=image.jpeg BINARY");
System.out.println(" Opens \"image.jpg\" and detects binary square fiducials inside of it");
System.out.println();
}
void parse( String []args ) {
if( args.length < 1 ) {
throw new RuntimeException("Must specify some arguments");
}
for( int i = 0; i < args.length; i++ ) {
String arg = args[i];
if( arg.startsWith("--") ) {
if( !checkCameraFlag(arg) ) {
if( flagName.compareToIgnoreCase("Intrinsic") == 0 ) {
intrinsicPath = parameters;
} else if( flagName.compareToIgnoreCase("OutputFile") == 0 ) {
outputPath = parameters;
} else {
throw new RuntimeException("Unknown camera option "+flagName);
}
}
} else if( arg.compareToIgnoreCase("BINARY") == 0 ) {
parseBinary(i+1,args);
break;
} else if( arg.compareToIgnoreCase("IMAGE") == 0 ) {
parseImage(i + 1, args);
break;
} else if( arg.compareToIgnoreCase("CHESSBOARD") == 0 ) {
parseChessboard(i + 1,args);
break;
} else if( arg.compareToIgnoreCase("SQUAREGRID") == 0 ) {
parseSquareGrid(i + 1,args);
break;
} else {
throw new RuntimeException("Unknown fiducial type "+arg);
}
}
}
void parseBinary( int index , String []args ) {
boolean robust=true;
double size=1;
int gridWidth = 4;
double borderWidth = 0.25;
for(; index < args.length; index++ ) {
String arg = args[index];
if( !arg.startsWith("--") ) {
throw new RuntimeException("Expected flags for binary fiducial");
}
splitFlag(arg);
if( flagName.compareToIgnoreCase("Robust") == 0 ) {
robust = Boolean.parseBoolean(parameters);
} else if( flagName.compareToIgnoreCase("Size") == 0 ) {
size = Double.parseDouble(parameters);
} else if( flagName.compareToIgnoreCase("GridWidth") == 0 ) {
gridWidth = Integer.parseInt(parameters);
} else if( flagName.compareToIgnoreCase("Border") == 0 ) {
borderWidth = Double.parseDouble(parameters);
} else {
throw new RuntimeException("Unknown image option "+flagName);
}
}
System.out.println("binary: robust = "+robust+" size = "+size + " grid width = " + gridWidth+" border = "+borderWidth);
ConfigFiducialBinary configFid = new ConfigFiducialBinary();
configFid.targetWidth = size;
configFid.gridWidth = gridWidth;
configFid.squareDetector.minimumEdgeIntensity = 10;
configFid.borderWidthFraction = borderWidth;
ConfigThreshold configThreshold ;
if( robust )
configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10);
else
configThreshold = ConfigThreshold.fixed(DEFAULT_THRESHOLD);
detector = FactoryFiducial.squareBinary(configFid, configThreshold, GrayU8.class);
}
void parseImage( int index , String []args ) {
boolean robust=true;
List paths = new ArrayList();
GrowQueue_F64 sizes = new GrowQueue_F64();
double borderWidth = 0.25;
for(; index < args.length; index++ ) {
String arg = args[index];
if( !arg.startsWith("--") ) {
throw new RuntimeException("Expected flags for image fiducial");
}
splitFlag(arg);
if( flagName.compareToIgnoreCase("Robust") == 0 ) {
robust = Boolean.parseBoolean(parameters);
} else if( flagName.compareToIgnoreCase("Image") == 0 ) {
String words[] = parameters.split(":");
if( words.length != 2 )throw new RuntimeException("Expected two for width and image path");
sizes.add(Double.parseDouble(words[0]));
paths.add(words[1]);
} else if( flagName.compareToIgnoreCase("Border") == 0 ) {
borderWidth = Double.parseDouble(parameters);
} else {
throw new RuntimeException("Unknown image option "+flagName);
}
}
if( paths.isEmpty() )
throw new RuntimeException("Need to specify patterns");
System.out.println("image: robust = "+robust+" total patterns = "+paths.size()+" border = "+borderWidth);
ConfigFiducialImage config = new ConfigFiducialImage();
config.borderWidthFraction = borderWidth;
ConfigThreshold configThreshold;
if( robust )
configThreshold = ConfigThreshold.local(ThresholdType.LOCAL_SQUARE, 10);
else
configThreshold = ConfigThreshold.fixed(DEFAULT_THRESHOLD);
SquareImage_to_FiducialDetector detector =
FactoryFiducial.squareImage(config, configThreshold, GrayU8.class);
for (int i = 0; i < paths.size(); i++) {
BufferedImage buffered = UtilImageIO.loadImage(paths.get(i));
if( buffered == null )
throw new RuntimeException("Can't find pattern "+paths.get(i));
GrayU8 pattern = new GrayU8(buffered.getWidth(),buffered.getHeight());
ConvertBufferedImage.convertFrom(buffered, pattern);
detector.addPatternImage(pattern,125,sizes.get(i));
}
this.detector = detector;
}
void parseChessboard( int index , String []args ) {
int rows=-1,cols=-1;
double width = 1;
for(; index < args.length; index++ ) {
String arg = args[index];
if (!arg.startsWith("--")) {
throw new RuntimeException("Expected flags for chessboard calibration fiducial");
}
splitFlag(arg);
if (flagName.compareToIgnoreCase("Shape") == 0) {
String words[] = parameters.split(":");
if( words.length != 2 )throw new RuntimeException("Expected two for rows and columns");
rows = Integer.parseInt(words[0]);
cols = Integer.parseInt(words[1]);
} else if (flagName.compareToIgnoreCase("SquareWidth") == 0) {
width = Double.parseDouble(parameters);
} else {
throw new RuntimeException("Unknown chessboard option "+flagName);
}
}
if( rows < 1 || cols < 1)
throw new RuntimeException("Must specify number of rows and columns");
System.out.println("chessboard: rows = "+rows+" columns = "+cols+" square width "+width);
ConfigChessboard config = new ConfigChessboard(rows, cols, width);
detector = FactoryFiducial.calibChessboard(config, GrayU8.class);
}
void parseSquareGrid( int index , String []args ) {
int rows=-1,cols=-1;
double width = 1, space = -1;
for(; index < args.length; index++ ) {
String arg = args[index];
if (!arg.startsWith("--")) {
throw new RuntimeException("Expected flags for square grid calibration fiducial");
}
splitFlag(arg);
if (flagName.compareToIgnoreCase("Shape") == 0) {
String words[] = parameters.split(":");
if( words.length != 2 )throw new RuntimeException("Expected two for rows and columns");
rows = Integer.parseInt(words[0]);
cols = Integer.parseInt(words[1]);
} else if (flagName.compareToIgnoreCase("SquareWidth") == 0) {
width = Double.parseDouble(parameters);
} else if (flagName.compareToIgnoreCase("Space") == 0) {
space = Double.parseDouble(parameters);
} else {
throw new RuntimeException("Unknown square grid option "+flagName);
}
}
if( rows < 1 || cols < 1)
throw new RuntimeException("Must specify number of rows and columns");
if( space <= 0 )
space = width;
System.out.println("square grid: rows = "+rows+" columns = "+cols+" square width "+width+" space "+space);
ConfigSquareGrid config = new ConfigSquareGrid(rows, cols, width,space);
detector = FactoryFiducial.calibSquareGrid(config, GrayU8.class);
}
private static IntrinsicParameters handleIntrinsic(IntrinsicParameters intrinsic, int width, int height) {
if( intrinsic == null ) {
System.out.println();
System.out.println("SERIOUSLY YOU NEED TO CALIBRATE THE CAMERA YOURSELF!");
System.out.println("There will be a lot more jitter and inaccurate pose");
System.out.println();
return PerspectiveOps.createIntrinsic(width, height, 35);
} else {
if( intrinsic.width != width || intrinsic.height != height ) {
System.out.println();
System.out.println("The image resolution in the intrinsics file doesn't match the input.");
System.out.println("Massaging the intrinsic for this input. If the results are poor calibrate");
System.out.println("your camera at the correct resolution!");
System.out.println();
double ratioW = width/(double)intrinsic.width;
double ratioH = height/(double)intrinsic.height;
if( Math.abs(ratioW-ratioH) > 1e-8 ) {
System.err.println("Can't adjust intrinsic parameters because camera ratios are different");
System.exit(1);
}
PerspectiveOps.scaleIntrinsic(intrinsic,ratioW);
}
return intrinsic;
}
}
/**
* Displays a continuous stream of images
*/
private void processStream(IntrinsicParameters intrinsic , SimpleImageSequence sequence , ImagePanel gui , long pauseMilli) {
Font font = new Font("Serif", Font.BOLD, 24);
Se3_F64 fiducialToCamera = new Se3_F64();
int frameNumber = 0;
while( sequence.hasNext() ) {
long before = System.currentTimeMillis();
GrayU8 input = sequence.next();
BufferedImage buffered = sequence.getGuiImage();
try {
detector.detect(input);
} catch( RuntimeException e ) {
System.err.println("BUG!!! saving image to crash_image.png");
UtilImageIO.saveImage(buffered,"crash_image.png");
throw e;
}
Graphics2D g2 = buffered.createGraphics();
for (int i = 0; i < detector.totalFound(); i++) {
detector.getFiducialToCamera(i,fiducialToCamera);
long id = detector.getId(i);
double width = detector.getWidth(i);
VisualizeFiducial.drawCube(fiducialToCamera,intrinsic,width,3,g2);
VisualizeFiducial.drawLabelCenter(fiducialToCamera,intrinsic,""+id,g2);
}
saveResults(frameNumber++);
if( intrinsicPath == null ) {
g2.setColor(Color.RED);
g2.setFont(font);
g2.drawString("Uncalibrated",10,20);
}
gui.setBufferedImage(buffered);
long after = System.currentTimeMillis();
long time = Math.max(0,pauseMilli-(after-before));
if( time > 0 ) {
try { Thread.sleep(time); } catch (InterruptedException ignore) {}
}
}
}
/**
* Displays a simple image
*/
private void processImage( IntrinsicParameters intrinsic , BufferedImage buffered , ImagePanel gui ) {
Font font = new Font("Serif", Font.BOLD, 24);
GrayU8 gray = new GrayU8(buffered.getWidth(),buffered.getHeight());
ConvertBufferedImage.convertFrom(buffered,gray);
Se3_F64 fiducialToCamera = new Se3_F64();
try {
detector.detect(gray);
} catch( RuntimeException e ) {
System.err.println("BUG!!! saving image to crash_image.png");
UtilImageIO.saveImage(buffered,"crash_image.png");
throw e;
}
Graphics2D g2 = buffered.createGraphics();
for (int i = 0; i < detector.totalFound(); i++) {
detector.getFiducialToCamera(i,fiducialToCamera);
long id = detector.getId(i);
double width = detector.getWidth(i);
VisualizeFiducial.drawCube(fiducialToCamera,intrinsic,width,3,g2);
VisualizeFiducial.drawLabelCenter(fiducialToCamera,intrinsic,""+id,g2);
}
saveResults(0);
if( intrinsicPath == null ) {
g2.setColor(Color.RED);
g2.setFont(font);
g2.drawString("Uncalibrated",10,20);
}
gui.setBufferedImage(buffered);
}
private void saveResults( int frameNumber ) {
if( outputFile == null )
return;
Quaternion_F64 quat = new Quaternion_F64();
Se3_F64 fiducialToCamera = new Se3_F64();
outputFile.printf("%d %d",frameNumber,detector.totalFound());
for (int i = 0; i < detector.totalFound(); i++) {
long id = detector.getId(i);
detector.getFiducialToCamera(i,fiducialToCamera);
ConvertRotation3D_F64.matrixToQuaternion(fiducialToCamera.getR(),quat);
outputFile.printf(" %d %.10f %.10f %.10f %.10f %.10f %.10f %.10f",id,
fiducialToCamera.T.x,fiducialToCamera.T.y,fiducialToCamera.T.z,
quat.w,quat.x,quat.y,quat.z);
}
outputFile.println();
}
private void process() {
if( detector == null ) {
System.err.println("Need to specify which fiducial you wish to detect");
System.exit(1);
}
if( outputPath != null ) {
try {
outputFile = new PrintStream(outputPath);
outputFile.println("# Results from fiducial detection ");
outputFile.println("# These comments should include the data source and the algorithm used, but I'm busy.");
outputFile.println("# ");
outputFile.println("# ...");
outputFile.println("# ");
outputFile.println("# The special Euclidean transform saved each fiducial is from fiducial to camera");
outputFile.println("# (X,Y,Z) is the translation and (Q1,Q2,Q3,Q4) specifies a quaternion");
outputFile.println("# ");
} catch (FileNotFoundException e) {
System.err.println("Failed to open output file.");
System.err.println(e.getMessage());
System.exit(1);
}
}
MediaManager media = DefaultMediaManager.INSTANCE;
IntrinsicParameters intrinsic = intrinsicPath == null ? null : (IntrinsicParameters)UtilIO.loadXML(intrinsicPath);
SimpleImageSequence sequence = null;
long pause = 0;
BufferedImage buffered = null;
if( inputType == InputType.VIDEO || inputType == InputType.WEBCAM ) {
if( inputType == InputType.WEBCAM ) {
String device = getCameraDeviceString();
sequence = media.openCamera(device,desiredWidth, desiredHeight,ImageType.single(GrayU8.class));
} else {
// just assume 30ms is appropriate. Should let the use specify this number
pause = 30;
sequence = media.openVideo(filePath,ImageType.single(GrayU8.class));
sequence.setLoop(true);
}
intrinsic = handleIntrinsic(intrinsic, sequence.getNextWidth(), sequence.getNextHeight());
} else {
buffered = UtilImageIO.loadImage(filePath);
if( buffered == null ) {
System.err.println("Can't find image or it can't be read. "+filePath);
System.exit(1);
}
intrinsic = handleIntrinsic(intrinsic, buffered.getWidth(),buffered.getHeight());
}
ImagePanel gui = new ImagePanel();
gui.setPreferredSize(new Dimension(intrinsic.width,intrinsic.height));
ShowImages.showWindow(gui,"Fiducial Detector",true);
detector.setIntrinsic(intrinsic);
if( sequence != null ) {
processStream(intrinsic,sequence,gui,pause);
} else {
processImage(intrinsic,buffered, gui);
}
}
public static void main(String[] args) {
FiducialDetection app = new FiducialDetection();
try {
app.parse(args);
} catch( RuntimeException e ) {
app.printHelp();
System.out.println();
System.out.println(e.getMessage());
System.exit(0);
}
try {
app.process();
} catch( RuntimeException e ) {
System.out.println();
System.out.println(e.getMessage());
System.exit(0);
}
}
}
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