boofcv.examples.fiducial.ExamplePoseOfCalibrationTarget Maven / Gradle / Ivy

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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 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 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 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();

		// 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);
			}
		}
	}
}