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added calibration accuracy, calib message, calib advanced menu

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This commit is contained in:
ori agranat
2020-01-25 23:11:02 +02:00
parent 46f818ba6f
commit 3224e412de
3 changed files with 82 additions and 12 deletions
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80
chameleon-client/src/views/SettingsViewes/Cameras.vue
View File

@@ -48,9 +48,21 @@
<span>Snapshot Amount: {{snapshotAmount}}</span>
</v-col>
</v-row>
<div v-if="isCalibrating">
<v-checkbox v-model="isAdvanced" label="Advanced Menu" dark/>
<div v-if="isAdvanced">
<CVslider name="Exposure" v-model="pipeline.exposure" :min="0" :max="100"
@input="handleData('exposure')"/>
<CVslider name="Brightness" v-model="pipeline.brightness" :min="0" :max="100"
@input="handleData('brightness')"/>
<CVslider name="Gain" v-if="pipeline.gain !== -1" v-model="pipeline.gain" :min="0" :max="100"
@input="handleData('gain')"/>
<CVselect name="FPS" v-model="pipeline.videoModeIndex" :list="stringFpsList" @input="changeFps"/>
</div>
</div>
</div>
<v-snackbar v-model="snack">
<span>Calibration Failed</span>
<v-snackbar v-model="snack" top :color="snackbar.color">
<span>{{snackbar.text}}</span>
</v-snackbar>
</div>
</template>
@@ -58,12 +70,14 @@
<script>
import CVselect from '../../components/cv-select'
import CVnumberinput from '../../components/cv-number-input'
import CVslider from '../../components/cv-slider'
export default {
name: 'CameraSettings',
components: {
CVselect,
CVnumberinput
CVnumberinput,
CVslider
},
data() {
return {
@@ -77,13 +91,24 @@
text: "Cancel Calibration",
color: "red"
},
snackbar: {
color: "success",
text: ""
},
squareSize: 1.0,
snapshotAmount: 0,
hasEnough: false,
snack: false
snack: false,
isAdvanced: false
}
},
methods: {
handleData(val) {
this.handleInput(val, this.pipeline[val]);
},
changeFps(){
this.handleInput('videoModeIndex', this.filteredFpsList[this.pipeline['videoModeIndex']]['actualIndex']);
},
sendCameraSettings() {
const self = this;
this.axios.post("http://" + this.$address + "/api/settings/camera", this.cameraSettings).then(
@@ -129,9 +154,13 @@
let connection_string = "/api/settings/endCalibration";
let data = {};
data['squareSize'] = this.squareSize;
self.axios.post("http://" + this.$address + connection_string, data).then(
function (response) {
if (response.status === 500) {
self.axios.post("http://" + this.$address + connection_string, data).then((response) => {
if (response.status === 200) {
self.snackbar = {
color: "success",
text: "calibration successful. \n" +
"accuracy: " + response.data['accuracy'].toFixed(5)
};
self.snack = true;
}
self.isCalibrating = false;
@@ -141,7 +170,19 @@
self.cancellationModeButton.text = "Cancel Calibration";
self.cancellationModeButton.color = "red";
}
);
).catch(() => {
self.snackbar = {
color: "error",
text: "calibration failed"
};
self.snack = true;
self.isCalibrating = false;
self.hasEnough = false;
self.snapshotAmount = 0;
self.calibrationModeButton.text = "Start Calibration";
self.cancellationModeButton.text = "Cancel Calibration";
self.cancellationModeButton.color = "red";
});
}
},
computed: {
@@ -186,6 +227,25 @@
return tmp_list;
}
},
filteredFpsList() {
let selectedRes = this.$store.state.resolutionList[this.resolutionIndex];
let tmpList = [];
for (let i in this.$store.state.resolutionList) {
let res = JSON.parse(JSON.stringify(this.$store.state.resolutionList[i]));
if (res.width === selectedRes.width && res.height === selectedRes.height) {
res['actualIndex'] = parseInt(i);
tmpList.push(res);
}
}
return tmpList;
},
stringFpsList() {
let tmp = [];
for (let i of this.filteredFpsList) {
tmp.push(i['fps']);
}
return tmp;
},
stringResolutionList: {
get() {
let tmp = [];
@@ -203,7 +263,9 @@
this.$store.commit('cameraSettings', value);
}
},
pipeline() {
return this.$store.state.pipeline
}
}
}
</script>

7
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
View File

@@ -38,6 +38,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
private TermCriteria criteria = new TermCriteria(3, 30, 0.001); //(Imgproc.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
private int captureCount = 0;
private double calibrationAccuracy = 0;
private boolean wantsSnapshot = false;
private double squareSizeInches;
@@ -129,7 +130,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
List<Mat> tvecs = new ArrayList<>();
try {
Calib3d.calibrateCamera(objpoints, imgpoints, imageSize, cameraMatrix, distortionCoeffs, rvecs, tvecs);
calibrationAccuracy = Calib3d.calibrateCamera(objpoints, imgpoints, imageSize, cameraMatrix, distortionCoeffs, rvecs, tvecs);
} catch(Exception e) {
System.err.println("Camera calibration failed!");
initPipeline(cameraCapture);
@@ -162,4 +163,8 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
public int getSnapshotCount() {
return captureCount + 1;
}
public double getCalibrationAccuracy(){
return calibrationAccuracy;
}
}

7
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
View File

@@ -174,6 +174,9 @@ public class RequestHandler {
System.out.println("Finishing Cal");
if (pipeManager.calib3dPipe.hasEnoughSnapshots()) {
if (pipeManager.calib3dPipe.tryCalibration()) {
HashMap<String, Double> tmp = new HashMap<String, Double>();
tmp.put("accuracy", pipeManager.calib3dPipe.getCalibrationAccuracy());
ctx.json(tmp);
ctx.status(200);
} else {
System.err.println("CALFAIL");
@@ -181,7 +184,7 @@ public class RequestHandler {
}
}
pipeManager.setCalibrationMode(false);
ctx.status(200);
ctx.status(201);
}
public static void onPnpModel(Context ctx) throws JsonProcessingException {
@@ -202,7 +205,7 @@ public class RequestHandler {
var settings = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings;
settings.targetCornerMat.fromList(pointsList);
}
} catch (Exception e){
} catch (Exception e) {
ctx.status(500);
}
}