private void evaluateScenario(File inputDirectory) {
List<T> frames = new ArrayList<T>();
IntrinsicParameters intrinsic =
FiducialCommon.parseIntrinsic(new File(inputDirectory, "intrinsic.txt"));
FiducialDetector<T> detector = factory.createDetector(inputDirectory);
detector.setIntrinsic(intrinsic);
File[] files = inputDirectory.listFiles();
for (File f : files) {
BufferedImage image = UtilImageIO.loadImage(f.getPath());
if (image == null) continue;
T frame = ConvertBufferedImage.convertFrom(image, true, detector.getInputType());
frames.add(frame);
}
long startTime = System.currentTimeMillis();
for (int trial = 0; trial < numFrames; trial++) {
detector.detect(frames.get(trial % frames.size()));
}
long endTime = System.currentTimeMillis();
double fps = numFrames / ((endTime - startTime) / 1000.0);
outputResults.printf("%s %d %7.3f\n", inputDirectory.getPath(), numFrames, fps);
}
public void process(BufferedImage input) {
setInputImage(input);
image.reshape(input.getWidth(), input.getHeight());
transform.reshape(input.getWidth(), input.getHeight());
magnitude.reshape(input.getWidth(), input.getHeight());
phase.reshape(input.getWidth(), input.getHeight());
ConvertBufferedImage.convertFrom(input, image, true);
fft.forward(image, transform);
GDiscreteFourierTransformOps.shiftZeroFrequency(transform, true);
GDiscreteFourierTransformOps.magnitude(transform, magnitude);
GDiscreteFourierTransformOps.phase(transform, phase);
// Convert it to a log scale for visibility
GPixelMath.log(magnitude, magnitude);
SwingUtilities.invokeLater(
new Runnable() {
public void run() {
setPreferredSize(new Dimension(image.width + 50, image.height + 20));
processedImage = true;
}
});
doRefreshAll();
}
public RigidBodyTransform detect(BufferedImage image) {
if (intrinsicParameters == null)
setDefaultIntrinsicParameter(image.getHeight(), image.getWidth(), Math.PI / 4);
ImageFloat32 gray = new ImageFloat32(image.getWidth(), image.getHeight());
ConvertBufferedImage.convertFrom(image, gray);
detector.setIntrinsic(intrinsicParameters);
detector.detect(gray);
// display the results
if (detector.totalFound() == 0) {
return null;
} else {
int closestIndex = -1;
double closestDistance = Double.MAX_VALUE;
Se3_F64 targetToSensor = new Se3_F64();
for (int i = 0; i < detector.totalFound(); i++) {
detector.getFiducialToCamera(i, targetToSensor);
double dist = targetToSensor.getT().norm();
if (dist < closestDistance) {
closestIndex = i;
closestDistance = dist;
}
}
detector.getFiducialToCamera(closestIndex, targetToSensor);
Vector3D_F64 translation = targetToSensor.getT();
Matrix3d rotation = new Matrix3d(targetToSensor.getR().data);
RigidBodyTransform transform =
new RigidBodyTransform(
rotation, new Vector3d(translation.x, translation.y, translation.z));
return transform;
}
}
public boolean estimateCameraPose(BufferedImage leftEye) {
if (!hasIntrinsic) return false;
gray.reshape(leftEye.getWidth(), leftEye.getHeight());
ConvertBufferedImage.convertFrom(leftEye, gray);
if (!target.process(gray)) return false;
if (!computeH.computeHomography(target.getDetectedPoints())) return false;
DenseMatrix64F H = computeH.getHomography();
targetToOrigin.set(decomposeH.decompose(H));
return true;
}
public synchronized void process(final BufferedImage input) {
this.input = input;
workImage = new BufferedImage(input.getWidth(), input.getHeight(), BufferedImage.TYPE_INT_RGB);
gray.reshape(input.getWidth(), input.getHeight());
ConvertBufferedImage.convertFrom(input, gray, true);
detectTarget();
SwingUtilities.invokeLater(
new Runnable() {
public void run() {
gui.setPreferredSize(new Dimension(input.getWidth(), input.getHeight()));
renderOutput();
}
});
}
public void evaluate(String dataName, TldTracker<T, ?> tracker) {
System.out.println("Processing " + dataName);
String path = "data/track_rect/TLD/" + dataName;
Rectangle2D_F64 initial = UtilTldData.parseRectangle(path + "/init.txt");
Rectangle2D_F64 found = new Rectangle2D_F64();
TldVisualizationPanel gui = null;
String imageType = new File(path + "/00001.jpg").exists() ? "jpg" : "png";
int imageNum = 0;
while (true) {
String imageName = String.format("%s/%05d.%s", path, imageNum + 1, imageType);
BufferedImage image = UtilImageIO.loadImage(imageName);
if (image == null) break;
input.reshape(image.getWidth(), image.getHeight());
ConvertBufferedImage.convertFrom(image, input, true);
boolean detected;
if (imageNum == 0) {
gui = new TldVisualizationPanel(this);
gui.setFrame(image);
gui.setSelectRectangle(false);
ShowImages.showWindow(gui, dataName);
tracker.initialize(
input, (int) initial.p0.x, (int) initial.p0.y, (int) initial.p1.x, (int) initial.p1.y);
detected = true;
} else {
detected = tracker.track(input);
found.set(tracker.getTargetRegion());
}
if (!detected) {
System.out.println("No Detection");
} else {
System.out.printf(
"Detection: %f,%f,%f,%f\n", found.p0.x, found.p0.y, found.p1.x, found.p1.y);
Graphics2D g2 = image.createGraphics();
int w = (int) found.getWidth();
int h = (int) found.getHeight();
g2.drawRect((int) found.p0.x, (int) found.p0.y, w, h);
}
gui.setFrame(image);
gui.update(tracker, detected);
gui.repaint();
imageNum++;
while (paused) {
Thread.yield();
}
// BoofMiscOps.pause(30);
}
System.out.println();
}
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();
}
}