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 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;
}
}