[backend] Camera calibration (#10)

* Fleshed out pipeline * Fixed pipeline empty mat * Remove orig pipeline * Remove gradle changes * Added docs * [Server] Camera Calibration * [Server] Camera Calibration * [Server] Camera Calibration * [Server] Camera Calibration w/ PerViewErrors * [Server] Camera Calibration w/ PerViewErrors * [Server] Camera Calibration w/ PerViewErrors * [Server] Camera Calibration w/ PerViewErrors * [Server] Camera Calibration * [Server] Camera Calibration * [Server] Added logging to Camera Calibration
2026-06-20 00:51:41 +00:00 · 2020-07-11 22:44:22 -04:00
parent 9f1899b081
commit 03b2a66ecd
42 changed files with 540 additions and 9 deletions
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.pipeline;
+
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.highgui.HighGui;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.Calibrate3dPipe;
+import org.photonvision.vision.pipe.impl.FindBoardCornersPipe;
+
+public class Calibrate3dPipeTest {
+    @BeforeEach
+    public void Init() {
+        TestUtils.loadLibraries();
+    }
+
+    @Test
+    public void perViewErrorsTest() {
+        List<Mat> frames = new ArrayList<>();
+
+        File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
+        File[] directoryListing = dir.listFiles();
+        for (var file : directoryListing) {
+            frames.add(Imgcodecs.imread(file.getAbsolutePath()));
+        }
+
+        FindBoardCornersPipe findBoardCornersPipe = new FindBoardCornersPipe();
+        findBoardCornersPipe.setParams(
+                new FindBoardCornersPipe.FindCornersPipeParams(11, 4, false, 15));
+        CVPipeResult<List<List<Mat>>> findBoardCornersPipeOutput = findBoardCornersPipe.apply(frames);
+
+        Calibrate3dPipe calibrate3dPipe = new Calibrate3dPipe();
+        calibrate3dPipe.setParams(new Calibrate3dPipe.CalibratePipeParams(new Size(640, 480)));
+
+        CVPipeResult<CameraCalibrationCoefficients> calibrate3dPipeOutput =
+                calibrate3dPipe.apply(findBoardCornersPipeOutput.result);
+        assertTrue(calibrate3dPipeOutput.result.perViewErrors.length > 0);
+        System.out.println(
+                "Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.result.perViewErrors));
+    }
+
+    @Test
+    public void calibrationPipelineTest() {
+
+        File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
+        File[] directoryListing = dir.listFiles();
+
+        Calibration3dPipeline calibration3dPipeline = new Calibration3dPipeline();
+        calibration3dPipeline.getSettings().boardHeight = 11;
+        calibration3dPipeline.getSettings().boardWidth = 4;
+        calibration3dPipeline.getSettings().isUsingChessboard = false;
+        calibration3dPipeline.getSettings().gridSize = 15;
+        calibration3dPipeline.getSettings().resolution = new Size(640, 480);
+
+        for (var file : directoryListing) {
+            calibration3dPipeline.takeSnapshot();
+            var output =
+                    calibration3dPipeline.run(
+                            new Frame(
+                                    new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
+                                    new FrameStaticProperties(640, 480, 60)));
+            HighGui.imshow("Calibration Output Frame", output.outputFrame.image.getMat());
+        }
+
+        calibration3dPipeline.startCalibration();
+        calibration3dPipeline.run(
+                new Frame(
+                        new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
+                        new FrameStaticProperties(640, 480, 60)));
+        System.out.println(
+                "Per View Errors: " + Arrays.toString(calibration3dPipeline.perViewErrors()));
+        System.out.println(
+                "Camera Intrinsics : "
+                        + calibration3dPipeline.cameraCalibrationCoefficients().cameraIntrinsics.toString());
+        System.out.println(
+                "Camera Extrinsics : "
+                        + calibration3dPipeline.cameraCalibrationCoefficients().cameraExtrinsics.toString());
+    }
+}