Example Calibration Target Pose - Revision history

Peter at 22:45, 17 January 2022

2022-01-17T22:45:06Z

← Older revision		Revision as of 22:45, 17 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0, null);		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));		viewer.setCameraToWorld(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)).invert(null));
	~~ImagePanel~~ imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);		var imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
	~~JComponent~~ viewerComponent = viewer.getComponent();		var viewerComponent = viewer.getComponent();
	viewerComponent.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));		viewerComponent.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
	~~PanelGridPanel~~ gui = new PanelGridPanel(1, imagePanel, viewerComponent);		var gui = new PanelGridPanel(1, imagePanel, viewerComponent);
	gui.setMaximumSize(gui.getPreferredSize());		gui.setMaximumSize(gui.getPreferredSize());
	ShowImages.showWindow(gui, "Calibration Target Pose", true);		ShowImages.showWindow(gui, "Calibration Target Pose", true);

	// Allows the user to click on the image and pause		// Allows the user to click on the image and pause
	~~MousePauseHelper~~ pauseHelper = new MousePauseHelper(gui);		var pauseHelper = new MousePauseHelper(gui);

	// saves the target's center location		// saves the target's center location
	~~List<Point3D_F64>~~ path = new ArrayList<>();		var path = new ArrayList<Point3D_F64>();

	// Process each frame in the video sequence		// Process each frame in the video sequence
	~~Se3_F64~~ targetToCamera = new Se3_F64();		var targetToCamera = new Se3_F64();
	while (video.hasNext()) {		while (video.hasNext()) {
	// detect calibration points		// detect calibration points

Peter at 18:05, 12 July 2021

2021-07-12T18:05:25Z

Peter at 02:03, 22 December 2020

2020-12-22T02:03:02Z

← Older revision		Revision as of 02:03, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExamplePoseOfCalibrationTarget {		public class ExamplePoseOfCalibrationTarget {
			public static void main( String[] args ) {
	public static void main( String ~~args~~[] ) {

	// Load camera calibration		// Load camera calibration
	CameraPinholeBrown intrinsic =		CameraPinholeBrown intrinsic =
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	// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.		// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.
	CalibrationFiducialDetector<GrayF32> detector =		CalibrationFiducialDetector<GrayF32> detector =
	FactoryFiducial.calibChessboardX(null,new ConfigGridDimen(4, 5, 0.03),GrayF32.class);		FactoryFiducial.calibChessboardX(null, new ConfigGridDimen(4, 5, 0.03), GrayF32.class);

	detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);		detector.setLensDistortion(lensDistortion, intrinsic.width, intrinsic.height);

	// Get the 2D coordinate of calibration points for visualization purposes		// Get the 2D coordinate of calibration points for visualization purposes
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	viewer.setBackgroundColor(0xFFFFFF); // white background		viewer.setBackgroundColor(0xFFFFFF); // white background
	// make the view more interest. From the side.		// make the view more interest. From the side.
	DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0,null);		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));		viewer.setCameraToWorld(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)).invert(null));
	ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);		ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
	JComponent viewerComponent = viewer.getComponent();		JComponent viewerComponent = viewer.getComponent();
	viewerComponent.setPreferredSize(new Dimension(intrinsic.width,intrinsic.height));		viewerComponent.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
	PanelGridPanel gui = new PanelGridPanel(1,imagePanel,viewerComponent);		PanelGridPanel gui = new PanelGridPanel(1, imagePanel, viewerComponent);
	gui.setMaximumSize(gui.getPreferredSize());		gui.setMaximumSize(gui.getPreferredSize());
	ShowImages.showWindow(gui,"Calibration Target Pose",true);		ShowImages.showWindow(gui, "Calibration Target Pose", true);

	// Allows the user to click on the image and pause		// Allows the user to click on the image and pause
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	// Process each frame in the video sequence		// Process each frame in the video sequence
	Se3_F64 targetToCamera = new Se3_F64();		Se3_F64 targetToCamera = new Se3_F64();
	while( video.hasNext() ) {		while (video.hasNext()) {

	// detect calibration points		// detect calibration points
	detector.detect(video.next());		detector.detect(video.next());

	if( detector.totalFound() == 1 ) {		if (detector.totalFound() == 1) {
	detector.getFiducialToCamera(0, targetToCamera);		detector.getFiducialToCamera(0, targetToCamera);

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	}		}

	imagePanel.setImage((BufferedImage) video.getGuiImage());		imagePanel.setImage((BufferedImage)video.getGuiImage());
	viewerComponent.repaint();		viewerComponent.repaint();
	imagePanel.repaint();		imagePanel.repaint();

	BoofMiscOps.pause(30);		BoofMiscOps.pause(30);
	while( pauseHelper.isPaused() ) {		while (pauseHelper.isPaused()) {
	BoofMiscOps.pause(30);		BoofMiscOps.pause(30);
	}		}

Peter at 01:01, 24 December 2019

2019-12-24T01:01:02Z

← Older revision		Revision as of 01:01, 24 December 2019
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.		// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.
	CalibrationFiducialDetector<GrayF32> detector =		CalibrationFiducialDetector<GrayF32> detector =
	FactoryFiducial.~~calibChessboard~~(null,new ConfigGridDimen(4, 5, 0.03),GrayF32.class);		FactoryFiducial.calibChessboardX(null,new ConfigGridDimen(4, 5, 0.03),GrayF32.class);

	detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);		detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);

Peter at 18:18, 7 July 2019

2019-07-07T18:18:08Z

← Older revision		Revision as of 18:18, 7 July 2019
Line 4:		Line 4:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.		// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.
	CalibrationFiducialDetector<GrayF32> detector =		CalibrationFiducialDetector<GrayF32> detector =
	FactoryFiducial.calibChessboard(new ~~ConfigChessboard~~(4, 5, 0.03),GrayF32.class);		FactoryFiducial.calibChessboard(null,new ConfigGridDimen(4, 5, 0.03),GrayF32.class);

	detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);		detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);

Peter at 13:51, 15 March 2019

2019-03-15T13:51:57Z

← Older revision		Revision as of 13:51, 15 March 2019
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	// Load camera calibration		// Load camera calibration
	~~CameraPinholeRadial~~ intrinsic =		CameraPinholeBrown intrinsic =
	CalibrationIO.load(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/intrinsic.yaml"));		CalibrationIO.load(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/intrinsic.yaml"));
	LensDistortionNarrowFOV lensDistortion = new ~~LensDistortionRadialTangential~~(intrinsic);		LensDistortionNarrowFOV lensDistortion = new LensDistortionBrown(intrinsic);

	// load the video file		// load the video file

Peter at 02:55, 17 October 2018

2018-10-17T02:55:43Z

← Older revision		Revision as of 02:55, 17 October 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	// Set up visualization		// Set up visualization
	PointCloudViewer viewer = ~~new PointCloudViewer~~(intrinsic, 0.01);		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.		// make the view more interest. From the side.
	DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0,null);		DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0,null);
	viewer.~~setWorldToCamera~~(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)));		viewer.setCameraToWorld(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)).invert(null));
	ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);		ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
	viewer.setPreferredSize(new Dimension(intrinsic.width,intrinsic.height));		JComponent viewerComponent = viewer.getComponent();
	PanelGridPanel gui = new PanelGridPanel(1,imagePanel,~~viewer~~);		viewerComponent.setPreferredSize(new Dimension(intrinsic.width,intrinsic.height));
			PanelGridPanel gui = new PanelGridPanel(1,imagePanel,viewerComponent);
	gui.setMaximumSize(gui.getPreferredSize());		gui.setMaximumSize(gui.getPreferredSize());
	ShowImages.showWindow(gui,"Calibration Target Pose",true);		ShowImages.showWindow(gui,"Calibration Target Pose",true);
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	// Visualization. Show a path with green points and the calibration points in black		// Visualization. Show a path with green points and the calibration points in black
	viewer.~~reset~~();		viewer.clearPoints();

	Point3D_F64 center = new Point3D_F64();		Point3D_F64 center = new Point3D_F64();
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	imagePanel.setImage((BufferedImage) video.getGuiImage());		imagePanel.setImage((BufferedImage) video.getGuiImage());
	~~viewer~~.repaint();		viewerComponent.repaint();
	imagePanel.repaint();		imagePanel.repaint();

Peter at 03:07, 19 March 2018

2018-03-19T03:07:48Z

← Older revision		Revision as of 03:07, 19 March 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.29/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	FactoryFiducial.calibChessboard(new ConfigChessboard(4, 5, 0.03),GrayF32.class);		FactoryFiducial.calibChessboard(new ConfigChessboard(4, 5, 0.03),GrayF32.class);

	detector.setLensDistortion(lensDistortion);		detector.setLensDistortion(lensDistortion,intrinsic.width,intrinsic.height);

	// Get the 2D coordinate of calibration points for visualization purposes		// Get the 2D coordinate of calibration points for visualization purposes
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	// Set up visualization		// Set up visualization
	~~JPanel gui = new JPanel();~~
	PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);		PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);
	// make the view more interest. From the side.		// make the view more interest. From the side.
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	viewer.setWorldToCamera(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)));		viewer.setWorldToCamera(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)));
	ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);		ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
	~~gui~~.~~add~~(~~BorderLayout~~.~~WEST~~, imagePanel); gui.~~add~~(~~BorderLayout~~.~~CENTER, viewer~~);		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);		ShowImages.showWindow(gui,"Calibration Target Pose",true);

Peter at 05:57, 20 January 2018

2018-01-20T05:57:00Z

← Older revision		Revision as of 05:57, 20 January 2018
Line 4:		Line 4:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:

Peter at 15:42, 17 August 2017

2017-08-17T15:42:49Z

← Older revision		Revision as of 15:42, 17 August 2017
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);		PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);
	// make the view more interest. From the side.		// make the view more interest. From the side.
	~~DenseMatrix64F~~ rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0,null);		DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0,null);
	viewer.setWorldToCamera(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)));		viewer.setWorldToCamera(new Se3_F64(rotY,new Vector3D_F64(0.75,0,1.25)));
	ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);		ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
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	}		}

	imagePanel.~~setBufferedImage~~((BufferedImage) video.getGuiImage());		imagePanel.setImage((BufferedImage) video.getGuiImage());
	viewer.repaint();		viewer.repaint();
	imagePanel.repaint();		imagePanel.repaint();

← Older revision		Revision as of 18:05, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/fiducial/ExamplePoseOfCalibrationTarget.java ExamplePoseOfCalibrationTarget.java]

	Concepts:		Concepts:
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	// Let's use the FiducialDetector interface since it is much easier than coding up		// 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.		// the entire thing ourselves. Look at FiducialDetector's code if you want to understand how it works.
	CalibrationFiducialDetector<GrayF32> detector =		CalibrationFiducialDetector<GrayF32> detector =
	FactoryFiducial.calibChessboardX(null, new ConfigGridDimen(4, 5, 0.03), GrayF32.class);		FactoryFiducial.calibChessboardX(null, new ConfigGridDimen(4, 5, 0.03), GrayF32.class);
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	viewer.setTranslationStep(0.01);		viewer.setTranslationStep(0.01);
	viewer.setBackgroundColor(0xFFFFFF); // white background		viewer.setBackgroundColor(0xFFFFFF); // white background
	// make the view more interest. From the side.		// make the view more interest. From the side.
	DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI/2.0, null);		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));		viewer.setCameraToWorld(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)).invert(null));
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	detector.getFiducialToCamera(0, targetToCamera);		detector.getFiducialToCamera(0, targetToCamera);

	// Visualization. Show a path with green points and the calibration points in black		// Visualization. Show a path with green points and the calibration points in black
	viewer.clearPoints();		viewer.clearPoints();