private Polygon2D_F64 createSquare(double x, double y) {
Polygon2D_F64 out = new Polygon2D_F64(4);
out.get(0).set(x, y);
out.get(1).set(x + 1, y);
out.get(2).set(x + 1, y - 1);
out.get(3).set(x, y - 1);
return out;
}
public static void main(String[] args) {
String nameIntrinsic = null;
int cameraId = 0;
if (args.length >= 1) {
cameraId = Integer.parseInt(args[0]);
}
if (args.length >= 2) {
nameIntrinsic = args[1];
} else {
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();
}
System.out.println();
System.out.println("camera ID = " + cameraId);
System.out.println("intrinsic file = " + nameIntrinsic);
System.out.println();
Webcam webcam = Webcam.getWebcams().get(cameraId);
UtilWebcamCapture.adjustResolution(webcam, 640, 480);
webcam.open();
Dimension d = webcam.getDevice().getResolution();
int imageWidth = d.width;
int imageHeight = d.height;
ConfigPolygonDetector config = new ConfigPolygonDetector(4);
config.configRefineLines.sampleRadius = 2;
config.configRefineLines.maxIterations = 30;
InputToBinary<ImageFloat32> inputToBinary =
FactoryThresholdBinary.globalOtsu(0, 255, true, ImageFloat32.class);
// FactoryThresholdBinary.globalEntropy(0,255,true,ImageFloat32.class);
// FactoryThresholdBinary.adaptiveSquare(10,0,true,ImageFloat32.class);
BinaryPolygonConvexDetector<ImageFloat32> detector =
FactoryShapeDetector.polygon(
inputToBinary, new ConfigPolygonDetector(4), ImageFloat32.class);
ImageFloat32 gray = new ImageFloat32(imageWidth, imageHeight);
ImagePanel gui = new ImagePanel(imageWidth, imageHeight);
ShowImages.showWindow(gui, "Fiducials", true);
while (true) {
BufferedImage frame = webcam.getImage();
ConvertBufferedImage.convertFrom(frame, gray);
detector.process(gray);
// display the results
Graphics2D g2 = frame.createGraphics();
List<Polygon2D_F64> shapes = detector.getFound().toList();
g2.setStroke(new BasicStroke(4));
g2.setColor(Color.RED);
g2.setRenderingHint(RenderingHints.KEY_STROKE_CONTROL, RenderingHints.VALUE_STROKE_PURE);
g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
Line2D.Double l = new Line2D.Double();
for (int i = 0; i < shapes.size(); i++) {
Polygon2D_F64 poly = shapes.get(i);
for (int j = 0; j < poly.size(); j++) {
int k = (j + 1) % poly.size();
l.setLine(poly.get(j).x, poly.get(j).y, poly.get(k).x, poly.get(k).y);
g2.draw(l);
}
}
gui.setBufferedImageSafe(frame);
gui.repaint();
}
}
