List of usage examples for org.opencv.core Point Point
public Point(double x, double y)
From source file:com.seleniumtests.util.imaging.ImageDetector.java
License:Apache License
/** * Detect the object inside the scene/*from w ww . j av a2 s . co m*/ * We also search the scale of the scene from 20% to 120% scale by steps * steps are 10%, with 0.6 accuracy * then when a good match is found, we search around by 5% scale steps with 0.7 accuracy * then when a good match is found, we search around by 2.5% scale steps with 0.8 accuracy * * example: * first pass: scales are: 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200 * good matches are found around 600 and 700 * second pass: scales are 550, 600, 650, 700, 750 * good matches are found at 650 * third pass: scales are 625, 650, 675 * * The best match is at 675 */ public void detectExactZoneWithScale() { Mat sceneImageMat = Imgcodecs.imread(sceneImage.getAbsolutePath(), Imgcodecs.CV_LOAD_IMAGE_GRAYSCALE); Mat objectImageMat = Imgcodecs.imread(objectImage.getAbsolutePath(), Imgcodecs.CV_LOAD_IMAGE_GRAYSCALE); List<TemplateMatchProperties> matches = Collections.synchronizedList(new ArrayList<>()); Map<Integer, Double> scaleSteps = new LinkedHashMap<>(); scaleSteps.put(100, 0.6); scaleSteps.put(50, 0.7); scaleSteps.put(25, 0.8); int currentStep = 100; Set<Integer> computedScales = new HashSet<>(); while (currentStep >= 25) { final double currentThreshold = scaleSteps.get(currentStep); // first loop Set<Integer> localScales = Collections.synchronizedSet(new HashSet<>()); if (currentStep == 100) { for (int scale = 200; scale < 1200; scale += currentStep) { localScales.add(scale); } } else { if (matches.isEmpty()) { throw new ImageSearchException("no matches"); } for (TemplateMatchProperties tmpM : matches) { if (tmpM.isActive()) { localScales.add(tmpM.getMatchScale() - currentStep); localScales.add(tmpM.getMatchScale() + currentStep); } } } ExecutorService executorService = Executors .newFixedThreadPool(Runtime.getRuntime().availableProcessors()); for (int scale : localScales) { if (computedScales.contains(scale)) { continue; } computedScales.add(scale); // resize to scale factor final int localScale = scale; Size sz = new Size(sceneImageMat.cols() * scale / 1000.0, sceneImageMat.rows() * localScale / 1000.0); // skip if resized image is smaller than object if (sz.width < objectImageMat.cols() || sz.height < objectImageMat.rows()) { continue; } executorService.submit(() -> { Mat resizeSceneImageMat = new Mat(); Imgproc.resize(sceneImageMat, resizeSceneImageMat, sz); try { TemplateMatchProperties match = detectExactZone2(resizeSceneImageMat, objectImageMat, localScale, currentThreshold); matches.add(match); } catch (ImageSearchException e) { } }); } executorService.shutdown(); try { executorService.awaitTermination(10, TimeUnit.SECONDS); } catch (Exception e) { logger.info("Could not compute scale within 10 seconds", e); } // shortcut if we find a very good match double cleanThreshold = currentThreshold; matches.sort((TemplateMatchProperties t1, TemplateMatchProperties t2) -> -(t1.getMatchValue().compareTo(t2.getMatchValue()))); if (!matches.isEmpty() && matches.get(0).getMatchValue() > 0.9) { cleanThreshold = 0.9; currentStep = Math.min(currentStep, 50); } currentStep = currentStep / 2; // clean matches from too low matching values for (TemplateMatchProperties t : matches) { if (t.getMatchValue() < cleanThreshold) { t.setActive(false); } } } // get the best match matches.sort((TemplateMatchProperties t1, TemplateMatchProperties t2) -> -(t1.getMatchValue().compareTo(t2.getMatchValue()))); if (!matches.isEmpty()) { TemplateMatchProperties bestMatch = matches.get(0); if (bestMatch.getMatchValue() < 1 - detectionThreshold) { throw new ImageSearchException( String.format("No match found for threshold %.2f, match found with value %.2f", 1 - detectionThreshold, bestMatch.getMatchValue())); } detectedRectangle = new Rectangle((int) (bestMatch.getMatchLoc().x / bestMatch.getDoubleScale()), (int) (bestMatch.getMatchLoc().y / bestMatch.getDoubleScale()), (int) (objectImageMat.rows() / bestMatch.getDoubleScale()), (int) (objectImageMat.cols() / bestMatch.getDoubleScale())); if (debug) { try { Imgproc.rectangle(sceneImageMat, new Point(detectedRectangle.x, detectedRectangle.y), new Point(detectedRectangle.x + detectedRectangle.width, detectedRectangle.y + detectedRectangle.height), new Scalar(0, 255, 0)); showResultingPicture(sceneImageMat); } catch (IOException e) { } } rotationAngle = 0; sizeRatio = detectedRectangle.width / (double) objectImageMat.cols(); } else { throw new ImageSearchException("no matching has been found"); } }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
/** * Perspective pattern discovery//from w w w. j a v a2 s .c o m * * Works similar to arena calibration but does not try to identify the * outline of the projection area We are only concerned with size, not * alignment or angle * * This function blanks out the pattern that it discovers in the Mat it is * provided. This is so that the pattern is not discovered by future pattern * discovery, e.g. auto-calibration * * workingMat should be null for all external callers unless there is some * need to work off a different Mat than is having patterns blanked out by * this function */ public Optional<Dimension2D> findPaperPattern(MatOfPoint2f boardCorners, Mat mat, Mat workingMat) { if (workingMat == null) workingMat = mat.clone(); initializeSize(workingMat.cols(), workingMat.rows()); // Step 2: Estimate the pattern corners final BoundingBox box = getPaperPatternDimensions(workingMat, boardCorners); // OpenCV gives us the checkerboard corners, not the outside dimension // So this estimates where the outside corner would be, plus a fudge // factor for the edge of the paper // Printer margins are usually a quarter inch on each edge double width = ((double) box.getWidth() * ((double) (PATTERN_WIDTH + 1) / (double) (PATTERN_WIDTH - 1)) * 1.048); double height = ((double) box.getHeight() * ((double) (PATTERN_HEIGHT + 1) / (double) (PATTERN_HEIGHT - 1)) * 1.063); final double PAPER_PATTERN_SIZE_THRESHOLD = .25; if (width > PAPER_PATTERN_SIZE_THRESHOLD * workingMat.cols() || height > PAPER_PATTERN_SIZE_THRESHOLD * workingMat.rows()) { logger.trace("Pattern too big to be paper, must be projection, setting blank {} x {}", box.getWidth(), box.getHeight()); workingMat.submat((int) box.getMinY(), (int) box.getMaxY(), (int) box.getMinX(), (int) box.getMaxX()) .setTo(new Scalar(0, 0, 0)); if (logger.isTraceEnabled()) { String filename = String.format("blanked-box.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, workingMat); } final Optional<MatOfPoint2f> boardCornersNew = findChessboard(workingMat); if (!boardCornersNew.isPresent()) return Optional.empty(); logger.trace("Found new pattern, attempting findPaperPattern {}", boardCornersNew.get()); return findPaperPattern(boardCornersNew.get(), mat, workingMat); } if (logger.isTraceEnabled()) { logger.trace("pattern width {} height {}", box.getWidth(), box.getHeight()); logger.trace("paper width {} height {}", width, height); int widthOffset = ((int) width - (int) box.getWidth()) / 2; int heightOffset = ((int) height - (int) box.getHeight()) / 2; logger.trace("offset width {} height {}", widthOffset, heightOffset); Mat fullpattern = workingMat.clone(); // TODO: This doesn't work if the pattern is upside down, but this is for debugging anyway right now // Should fix in case it causes an out of bounds or something Point topLeft = new Point(boardCorners.get(0, 0)[0], boardCorners.get(0, 0)[1]); Point topRight = new Point(boardCorners.get(PATTERN_WIDTH - 1, 0)[0], boardCorners.get(PATTERN_WIDTH - 1, 0)[1]); Point bottomRight = new Point(boardCorners.get(PATTERN_WIDTH * PATTERN_HEIGHT - 1, 0)[0], boardCorners.get(PATTERN_WIDTH * PATTERN_HEIGHT - 1, 0)[1]); Point bottomLeft = new Point(boardCorners.get(PATTERN_WIDTH * (PATTERN_HEIGHT - 1), 0)[0], boardCorners.get(PATTERN_WIDTH * (PATTERN_HEIGHT - 1), 0)[1]); Core.circle(fullpattern, topLeft, 1, new Scalar(255, 0, 0), -1); Core.circle(fullpattern, topRight, 1, new Scalar(255, 0, 0), -1); Core.circle(fullpattern, bottomRight, 1, new Scalar(255, 0, 0), -1); Core.circle(fullpattern, bottomLeft, 1, new Scalar(255, 0, 0), -1); String filename = String.format("marked-box.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, fullpattern); fullpattern = fullpattern.submat((int) box.getMinY() - heightOffset, (int) box.getMinY() - heightOffset + (int) height, (int) box.getMinX() - widthOffset, (int) box.getMinX() - widthOffset + (int) width); filename = String.format("full-box.png"); file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, fullpattern); Mat cropped = workingMat.submat((int) box.getMinY(), (int) box.getMaxY(), (int) box.getMinX(), (int) box.getMaxX()); filename = String.format("pattern-box.png"); file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, cropped); } mat.submat((int) box.getMinY(), (int) box.getMaxY(), (int) box.getMinX(), (int) box.getMaxX()) .setTo(new Scalar(0, 0, 0)); return Optional.of(new Dimension2D(width, height)); }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private BoundingBox getPaperPatternDimensions(Mat traceMat, MatOfPoint2f boardCorners) { // Turn the chessboard into corners final MatOfPoint2f boardRect = calcBoardRectFromCorners(boardCorners); final Point pt1 = new Point(boardRect.get(0, 0)[0], boardRect.get(0, 0)[1]); final Point pt2 = new Point(boardRect.get(1, 0)[0], boardRect.get(1, 0)[1]); final Point pt3 = new Point(boardRect.get(2, 0)[0], boardRect.get(2, 0)[1]); final Point pt4 = new Point(boardRect.get(3, 0)[0], boardRect.get(3, 0)[1]); Point[] patternCorners = { pt1, pt2, pt3, pt4 }; patternCorners = sortCorners(patternCorners); final Point topLeft = patternCorners[0]; final Point topRight = patternCorners[1]; final Point bottomLeft = patternCorners[2]; final Point bottomRight = patternCorners[3]; logger.trace("Paper Corners {} {} {} {}", topLeft, topRight, bottomRight, bottomLeft); final double topWidth = Math .sqrt(Math.pow(topRight.x - topLeft.x, 2) + Math.pow(topRight.y - topLeft.y, 2)); final double leftHeight = Math .sqrt(Math.pow(bottomLeft.x - topLeft.x, 2) + Math.pow(bottomLeft.y - topLeft.y, 2)); final double bottomWidth = Math .sqrt(Math.pow(bottomRight.x - bottomLeft.x, 2) + Math.pow(bottomRight.y - bottomLeft.y, 2)); final double rightHeight = Math .sqrt(Math.pow(bottomRight.x - topRight.x, 2) + Math.pow(bottomRight.y - topRight.y, 2)); final double width = ((topWidth + bottomWidth) / 2); final double height = ((leftHeight + rightHeight) / 2); return new BoundingBox(topLeft.x, topLeft.y, width, height); }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private MatOfPoint2f estimatePatternRect(Mat traceMat, MatOfPoint2f boardCorners) { // Turn the chessboard into corners final MatOfPoint2f boardRect = calcBoardRectFromCorners(boardCorners); // We use this to calculate the angle final RotatedRect boardBox = Imgproc.minAreaRect(boardRect); final double boardBoxAngle = boardBox.size.height > boardBox.size.width ? 90.0 + boardBox.angle : boardBox.angle;/*ww w. ja va2 s.c o m*/ // This is the board corners with the angle eliminated final Mat unRotMat = getRotationMatrix(massCenterMatOfPoint2f(boardRect), boardBoxAngle); final MatOfPoint2f unRotatedRect = rotateRect(unRotMat, boardRect); // This is the estimated projection area that has minimum angle (Not // rotated) final MatOfPoint2f estimatedPatternSizeRect = estimateFullPatternSize(unRotatedRect); // This is what we'll use as the transformation target and bounds given // back to the cameramanager boundsRect = Imgproc.minAreaRect(estimatedPatternSizeRect); // We now rotate the estimation back to the original angle to use for // transformation source final Mat rotMat = getRotationMatrix(massCenterMatOfPoint2f(estimatedPatternSizeRect), -boardBoxAngle); final MatOfPoint2f rotatedPatternSizeRect = rotateRect(rotMat, estimatedPatternSizeRect); if (logger.isTraceEnabled()) { logger.trace("center {} angle {} width {} height {}", boardBox.center, boardBoxAngle, boardBox.size.width, boardBox.size.height); logger.debug("boundsRect {} {} {} {}", boundsRect.boundingRect().x, boundsRect.boundingRect().y, boundsRect.boundingRect().x + boundsRect.boundingRect().width, boundsRect.boundingRect().y + boundsRect.boundingRect().height); Core.circle(traceMat, new Point(boardRect.get(0, 0)[0], boardRect.get(0, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(traceMat, new Point(boardRect.get(1, 0)[0], boardRect.get(1, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(traceMat, new Point(boardRect.get(2, 0)[0], boardRect.get(2, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(traceMat, new Point(boardRect.get(3, 0)[0], boardRect.get(3, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.line(traceMat, new Point(unRotatedRect.get(0, 0)[0], unRotatedRect.get(0, 0)[1]), new Point(unRotatedRect.get(1, 0)[0], unRotatedRect.get(1, 0)[1]), new Scalar(0, 255, 0)); Core.line(traceMat, new Point(unRotatedRect.get(1, 0)[0], unRotatedRect.get(1, 0)[1]), new Point(unRotatedRect.get(2, 0)[0], unRotatedRect.get(2, 0)[1]), new Scalar(0, 255, 0)); Core.line(traceMat, new Point(unRotatedRect.get(3, 0)[0], unRotatedRect.get(3, 0)[1]), new Point(unRotatedRect.get(2, 0)[0], unRotatedRect.get(2, 0)[1]), new Scalar(0, 255, 0)); Core.line(traceMat, new Point(unRotatedRect.get(3, 0)[0], unRotatedRect.get(3, 0)[1]), new Point(unRotatedRect.get(0, 0)[0], unRotatedRect.get(0, 0)[1]), new Scalar(0, 255, 0)); Core.line(traceMat, new Point(estimatedPatternSizeRect.get(0, 0)[0], estimatedPatternSizeRect.get(0, 0)[1]), new Point(estimatedPatternSizeRect.get(1, 0)[0], estimatedPatternSizeRect.get(1, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(estimatedPatternSizeRect.get(1, 0)[0], estimatedPatternSizeRect.get(1, 0)[1]), new Point(estimatedPatternSizeRect.get(2, 0)[0], estimatedPatternSizeRect.get(2, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(estimatedPatternSizeRect.get(3, 0)[0], estimatedPatternSizeRect.get(3, 0)[1]), new Point(estimatedPatternSizeRect.get(2, 0)[0], estimatedPatternSizeRect.get(2, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(estimatedPatternSizeRect.get(3, 0)[0], estimatedPatternSizeRect.get(3, 0)[1]), new Point(estimatedPatternSizeRect.get(0, 0)[0], estimatedPatternSizeRect.get(0, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(rotatedPatternSizeRect.get(0, 0)[0], rotatedPatternSizeRect.get(0, 0)[1]), new Point(rotatedPatternSizeRect.get(1, 0)[0], rotatedPatternSizeRect.get(1, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(rotatedPatternSizeRect.get(1, 0)[0], rotatedPatternSizeRect.get(1, 0)[1]), new Point(rotatedPatternSizeRect.get(2, 0)[0], rotatedPatternSizeRect.get(2, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(rotatedPatternSizeRect.get(3, 0)[0], rotatedPatternSizeRect.get(3, 0)[1]), new Point(rotatedPatternSizeRect.get(2, 0)[0], rotatedPatternSizeRect.get(2, 0)[1]), new Scalar(255, 255, 0)); Core.line(traceMat, new Point(rotatedPatternSizeRect.get(3, 0)[0], rotatedPatternSizeRect.get(3, 0)[1]), new Point(rotatedPatternSizeRect.get(0, 0)[0], rotatedPatternSizeRect.get(0, 0)[1]), new Scalar(255, 255, 0)); } return rotatedPatternSizeRect; }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private MatOfPoint2f estimateFullPatternSize(MatOfPoint2f rect) { // Result Mat final MatOfPoint2f result = new MatOfPoint2f(); result.alloc(4);//from www . ja v a 2s .com // Get the sources as points final Point topLeft = new Point(rect.get(0, 0)[0], rect.get(0, 0)[1]); final Point topRight = new Point(rect.get(1, 0)[0], rect.get(1, 0)[1]); final Point bottomRight = new Point(rect.get(2, 0)[0], rect.get(2, 0)[1]); final Point bottomLeft = new Point(rect.get(3, 0)[0], rect.get(3, 0)[1]); // We need the heights and widths to estimate the square sizes final double topWidth = Math .sqrt(Math.pow(topRight.x - topLeft.x, 2) + Math.pow(topRight.y - topLeft.y, 2)); final double leftHeight = Math .sqrt(Math.pow(bottomLeft.x - topLeft.x, 2) + Math.pow(bottomLeft.y - topLeft.y, 2)); final double bottomWidth = Math .sqrt(Math.pow(bottomRight.x - bottomLeft.x, 2) + Math.pow(bottomRight.y - bottomLeft.y, 2)); final double rightHeight = Math .sqrt(Math.pow(bottomRight.x - topRight.x, 2) + Math.pow(bottomRight.y - topRight.y, 2)); if (logger.isTraceEnabled()) { logger.trace("points {} {} {} {}", topLeft, topRight, bottomRight, bottomLeft); double angle = Math.atan((topRight.y - topLeft.y) / (topRight.x - topLeft.x)) * 180 / Math.PI; double angle2 = Math.atan((bottomRight.y - bottomLeft.y) / (bottomRight.x - bottomLeft.x)) * 180 / Math.PI; logger.trace("square size {} {} - angle {}", topWidth / (PATTERN_WIDTH - 1), leftHeight / (PATTERN_HEIGHT - 1), angle); logger.trace("square size {} {} - angle {}", bottomWidth / (PATTERN_WIDTH - 1), rightHeight / (PATTERN_HEIGHT - 1), angle2); } // Estimate the square widths, that is what we base the estimate of the // real corners on double squareTopWidth = (1 + BORDER_FACTOR) * (topWidth / (PATTERN_WIDTH - 1)); double squareLeftHeight = (1 + BORDER_FACTOR) * (leftHeight / (PATTERN_HEIGHT - 1)); double squareBottomWidth = (1 + BORDER_FACTOR) * (bottomWidth / (PATTERN_WIDTH - 1)); double squareRightHeight = (1 + BORDER_FACTOR) * (rightHeight / (PATTERN_HEIGHT - 1)); // The estimations double[] newTopLeft = { topLeft.x - squareTopWidth, topLeft.y - squareLeftHeight }; double[] newBottomLeft = { bottomLeft.x - squareBottomWidth, bottomLeft.y + squareLeftHeight }; double[] newTopRight = { topRight.x + squareTopWidth, topRight.y - squareRightHeight }; double[] newBottomRight = { bottomRight.x + squareBottomWidth, bottomRight.y + squareRightHeight }; // Populate the result result.put(0, 0, newTopLeft); result.put(1, 0, newTopRight); result.put(2, 0, newBottomRight); result.put(3, 0, newBottomLeft); // Calculate the new heights (We don't need the widths but I'll leave // the code here commented out) // double newTopWidth = Math.sqrt(Math.pow(newTopRight[0] - // newTopLeft[0],2) + Math.pow(newTopRight[1] - newTopLeft[1],2)); // double newBottomWidth = Math.sqrt(Math.pow(newBottomRight[0] - // newBottomLeft[0],2) + Math.pow(newBottomRight[1] - // newBottomLeft[1],2)); double newLeftHeight = Math.sqrt( Math.pow(newBottomLeft[0] - newTopLeft[0], 2) + Math.pow(newBottomLeft[1] - newTopLeft[1], 2)); double newRightHeight = Math.sqrt( Math.pow(newBottomRight[0] - newTopRight[0], 2) + Math.pow(newBottomRight[1] - newTopRight[1], 2)); // The minimum dimension is always from the height because the pattern // is shorter on that side // Technically it is possible that the pattern is super stretched out, // but in that case I think we're // better off failing minimumDimension = newLeftHeight < newRightHeight ? newLeftHeight : newRightHeight; return result; }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private MatOfPoint2f rotateRect(Mat rotMat, MatOfPoint2f boardRect) { final MatOfPoint2f result = new MatOfPoint2f(); result.alloc(4);//from w ww.j a v a2s .c om for (int i = 0; i < 4; i++) { final Point rPoint = rotPoint(rotMat, new Point(boardRect.get(i, 0)[0], boardRect.get(i, 0)[1])); final double[] rPointD = new double[2]; rPointD[0] = rPoint.x; rPointD[1] = rPoint.y; result.put(i, 0, rPointD); } return result; }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private Optional<MatOfPoint2f> findIdealCorners(final Mat frame, final MatOfPoint2f estimatedPatternRect) { Mat traceMat = null;/*from w ww .j a v a 2 s .com*/ if (logger.isTraceEnabled()) { Mat traceMatTemp = frame.clone(); traceMat = new Mat(); Imgproc.cvtColor(traceMatTemp, traceMat, Imgproc.COLOR_GRAY2BGR); } // pixel distance, dynamic because we want to allow any resolution or // distance from pattern final int toleranceThreshold = (int) (minimumDimension / (double) (PATTERN_HEIGHT - 1) / 1.5); // Grey scale conversion. //final Mat grey = new Mat(); //Imgproc.cvtColor(frame, grey, Imgproc.COLOR_BGR2GRAY); final Mat grey = frame; // Find edges Imgproc.Canny(grey, grey, CANNY_THRESHOLD_1, CANNY_THRESHOLD_2); // Blur the lines, otherwise the lines algorithm does not consider them Imgproc.GaussianBlur(grey, grey, gaussianBlurSize, GAUSSIANBLUR_SIGMA); if (logger.isTraceEnabled()) { logger.trace("tolerance threshold {} minimumDimension {}", toleranceThreshold, minimumDimension); String filename = String.format("calibrate-undist-grey-lines.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, grey); } if (logger.isDebugEnabled()) logger.debug("estimation {} {} {} {}", estimatedPatternRect.get(0, 0), estimatedPatternRect.get(1, 0), estimatedPatternRect.get(2, 0), estimatedPatternRect.get(3, 0)); // Easier to work off of Points final Point[] estimatedPoints = matOfPoint2fToPoints(estimatedPatternRect); if (logger.isTraceEnabled()) { Core.circle(traceMat, estimatedPoints[0], 1, new Scalar(0, 0, 255), -1); Core.circle(traceMat, estimatedPoints[1], 1, new Scalar(0, 0, 255), -1); Core.circle(traceMat, estimatedPoints[2], 1, new Scalar(0, 0, 255), -1); Core.circle(traceMat, estimatedPoints[3], 1, new Scalar(0, 0, 255), -1); } // Find lines // These parameters are just guesswork right now final Mat mLines = new Mat(); final int minLineSize = (int) (minimumDimension * .90); final int lineGap = toleranceThreshold; // Do it Imgproc.HoughLinesP(grey, mLines, HOUGHLINES_RHO, HOUGHLINES_THETA, HOUGHLINES_THRESHOLD, minLineSize, lineGap); // Find the lines that match our estimates final Set<double[]> verifiedLines = new HashSet<double[]>(); for (int x = 0; x < mLines.cols(); x++) { final double[] vec = mLines.get(0, x); final double x1 = vec[0], y1 = vec[1], x2 = vec[2], y2 = vec[3]; final Point start = new Point(x1, y1); final Point end = new Point(x2, y2); if (nearPoints(estimatedPoints, start, toleranceThreshold) && nearPoints(estimatedPoints, end, toleranceThreshold)) { verifiedLines.add(vec); if (logger.isTraceEnabled()) { Core.line(traceMat, start, end, new Scalar(255, 0, 0), 1); } } } if (logger.isTraceEnabled()) logger.trace("verifiedLines: {}", verifiedLines.size()); // Reduce the lines to possible corners final Set<Point> possibleCorners = new HashSet<Point>(); for (double[] line1 : verifiedLines) { for (double[] line2 : verifiedLines) { if (line1 == line2) continue; Optional<Point> intersection = computeIntersect(line1, line2); if (intersection.isPresent()) possibleCorners.add(intersection.get()); } } // Reduce the possible corners to ideal corners Point[] idealCorners = new Point[4]; final double[] idealDistances = { toleranceThreshold, toleranceThreshold, toleranceThreshold, toleranceThreshold }; for (Point pt : possibleCorners) { for (int i = 0; i < 4; i++) { final double distance = euclideanDistance(pt, estimatedPoints[i]); if (distance < idealDistances[i]) { idealDistances[i] = distance; idealCorners[i] = pt; } } } if (logger.isTraceEnabled()) { logger.trace("idealDistances {} {} {} {}", idealDistances[0], idealDistances[1], idealDistances[2], idealDistances[3]); String filename = String.format("calibrate-lines.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, traceMat); } // Verify that we have the corners we need for (Point pt : idealCorners) { if (pt == null) return Optional.empty(); if (logger.isTraceEnabled()) { logger.trace("idealCorners {}", pt); Core.circle(traceMat, pt, 1, new Scalar(0, 255, 255), -1); } } if (logger.isTraceEnabled()) { String filename = String.format("calibrate-lines-with-corners.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, traceMat); } // Sort them into the correct order // 1st-------2nd // | | // | | // | | // 3rd-------4th idealCorners = sortCorners(idealCorners); // build the MatofPoint2f final MatOfPoint2f sourceCorners = new MatOfPoint2f(); sourceCorners.alloc(4); for (int i = 0; i < 4; i++) { sourceCorners.put(i, 0, new double[] { idealCorners[i].x, idealCorners[i].y }); } return Optional.of(sourceCorners); }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private Point[] sortCorners(final Point[] corners) { final Point[] result = new Point[4]; final Point center = new Point(0, 0); for (Point corner : corners) { center.x += corner.x;/*from www .j a v a2 s . c om*/ center.y += corner.y; } center.x *= 1.0 / corners.length; center.y *= 1.0 / corners.length; final List<Point> top = new ArrayList<Point>(); final List<Point> bot = new ArrayList<Point>(); for (int i = 0; i < corners.length; i++) { if (corners[i].y < center.y) top.add(corners[i]); else bot.add(corners[i]); } result[0] = top.get(0).x > top.get(1).x ? top.get(1) : top.get(0); result[1] = top.get(0).x > top.get(1).x ? top.get(0) : top.get(1); result[2] = bot.get(0).x > bot.get(1).x ? bot.get(1) : bot.get(0); result[3] = bot.get(0).x > bot.get(1).x ? bot.get(0) : bot.get(1); return result; }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private void initializeWarpPerspective(final Mat frame, final MatOfPoint2f sourceCorners) { final MatOfPoint2f destCorners = new MatOfPoint2f(); destCorners.alloc(4);// w ww.j a v a2 s . c o m // 1st-------2nd // | | // | | // | | // 3rd-------4th destCorners.put(0, 0, new double[] { boundsRect.boundingRect().x, boundsRect.boundingRect().y }); destCorners.put(1, 0, new double[] { boundsRect.boundingRect().x + boundsRect.boundingRect().width, boundsRect.boundingRect().y }); destCorners.put(2, 0, new double[] { boundsRect.boundingRect().x, boundsRect.boundingRect().y + boundsRect.boundingRect().height }); destCorners.put(3, 0, new double[] { boundsRect.boundingRect().x + boundsRect.boundingRect().width, boundsRect.boundingRect().y + boundsRect.boundingRect().height }); if (logger.isDebugEnabled()) { logger.debug("initializeWarpPerspective {} {} {} {}", sourceCorners.get(0, 0), sourceCorners.get(1, 0), sourceCorners.get(2, 0), sourceCorners.get(3, 0)); logger.debug("initializeWarpPerspective {} {} {} {}", destCorners.get(0, 0), destCorners.get(1, 0), destCorners.get(2, 0), destCorners.get(3, 0)); } perspMat = Imgproc.getPerspectiveTransform(sourceCorners, destCorners); int width = boundsRect.boundingRect().width; int height = boundsRect.boundingRect().height; // Make them divisible by two for video recording purposes if ((width & 1) == 1) width++; if ((height & 1) == 1) height++; boundingBox = new BoundingBox(boundsRect.boundingRect().x, boundsRect.boundingRect().y, width, height); warpInitialized = true; if (logger.isTraceEnabled()) { Mat debugFrame = frame.clone(); Core.circle(debugFrame, new Point(sourceCorners.get(0, 0)[0], sourceCorners.get(0, 0)[1]), 1, new Scalar(255, 0, 255), -1); Core.circle(debugFrame, new Point(sourceCorners.get(1, 0)[0], sourceCorners.get(1, 0)[1]), 1, new Scalar(255, 0, 255), -1); Core.circle(debugFrame, new Point(sourceCorners.get(2, 0)[0], sourceCorners.get(2, 0)[1]), 1, new Scalar(255, 0, 255), -1); Core.circle(debugFrame, new Point(sourceCorners.get(3, 0)[0], sourceCorners.get(3, 0)[1]), 1, new Scalar(255, 0, 255), -1); Core.circle(debugFrame, new Point(destCorners.get(0, 0)[0], destCorners.get(0, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(debugFrame, new Point(destCorners.get(1, 0)[0], destCorners.get(1, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(debugFrame, new Point(destCorners.get(2, 0)[0], destCorners.get(2, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.circle(debugFrame, new Point(destCorners.get(3, 0)[0], destCorners.get(3, 0)[1]), 1, new Scalar(255, 0, 0), -1); Core.line(debugFrame, new Point(boundingBox.getMinX(), boundingBox.getMinY()), new Point(boundingBox.getMaxX(), boundingBox.getMinY()), new Scalar(0, 255, 0)); Core.line(debugFrame, new Point(boundingBox.getMinX(), boundingBox.getMinY()), new Point(boundingBox.getMinX(), boundingBox.getMaxY()), new Scalar(0, 255, 0)); Core.line(debugFrame, new Point(boundingBox.getMaxX(), boundingBox.getMaxY()), new Point(boundingBox.getMaxX(), boundingBox.getMinY()), new Scalar(0, 255, 0)); Core.line(debugFrame, new Point(boundingBox.getMaxX(), boundingBox.getMaxY()), new Point(boundingBox.getMinX(), boundingBox.getMaxY()), new Scalar(0, 255, 0)); String filename = String.format("calibrate-transformation.png"); File file = new File(filename); filename = file.toString(); Highgui.imwrite(filename, debugFrame); } }
From source file:com.shootoff.camera.autocalibration.AutoCalibrationManager.java
License:Open Source License
private MatOfPoint2f calcBoardRectFromCorners(MatOfPoint2f corners) { MatOfPoint2f result = new MatOfPoint2f(); result.alloc(4);/*from w w w . j a v a 2s. c o m*/ Point topLeft = new Point(corners.get(0, 0)[0], corners.get(0, 0)[1]); Point topRight = new Point(corners.get(PATTERN_WIDTH - 1, 0)[0], corners.get(PATTERN_WIDTH - 1, 0)[1]); Point bottomRight = new Point(corners.get(PATTERN_WIDTH * PATTERN_HEIGHT - 1, 0)[0], corners.get(PATTERN_WIDTH * PATTERN_HEIGHT - 1, 0)[1]); Point bottomLeft = new Point(corners.get(PATTERN_WIDTH * (PATTERN_HEIGHT - 1), 0)[0], corners.get(PATTERN_WIDTH * (PATTERN_HEIGHT - 1), 0)[1]); result.put(0, 0, topLeft.x, topLeft.y, topRight.x, topRight.y, bottomRight.x, bottomRight.y, bottomLeft.x, bottomLeft.y); return result; }