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30 package org.openimaj.image.calibration;
31
32 import java.io.IOException;
33 import java.net.MalformedURLException;
34 import java.net.URL;
35 import java.util.ArrayList;
36 import java.util.List;
37
38 import no.uib.cipr.matrix.NotConvergedException;
39
40 import org.openimaj.image.DisplayUtilities;
41 import org.openimaj.image.FImage;
42 import org.openimaj.image.ImageUtilities;
43 import org.openimaj.image.MBFImage;
44 import org.openimaj.image.camera.calibration.CameraCalibrationZhang;
45 import org.openimaj.image.colour.RGBColour;
46 import org.openimaj.math.geometry.point.Point2d;
47 import org.openimaj.math.geometry.point.Point2dImpl;
48 import org.openimaj.util.iterator.TextLineIterable;
49 import org.openimaj.util.pair.IndependentPair;
50
51 public class TestHarness {
52 public static void main(String[] args) throws IOException, NotConvergedException {
53 final List<Point2dImpl> modelPoints = loadModelPoints();
54 final List<List<Point2dImpl>> points = loadImagePoints();
55
56 final List<List<? extends IndependentPair<? extends Point2d, ? extends Point2d>>> pointMatches =
57 new ArrayList<List<? extends IndependentPair<? extends Point2d, ? extends Point2d>>>();
58
59 for (int i = 0; i < points.size(); i++) {
60 final List<IndependentPair<Point2dImpl, Point2dImpl>> data =
61 IndependentPair.pairList(modelPoints, points.get(i));
62 pointMatches.add(data);
63 }
64
65 final CameraCalibrationZhang calib = new CameraCalibrationZhang(pointMatches, 640, 480);
66
67
68
69 System.out.println(calib.getIntrisics());
70
71 System.out.println(calib.calculateError());
72
73 final MBFImage img = new MBFImage(640, 480);
74 for (int i = 0; i < pointMatches.get(0).size(); i++) {
75 final Point2d model = pointMatches.get(0).get(i).firstObject();
76 final Point2d observed = pointMatches.get(0).get(i).secondObject();
77
78 final Point2d proj = calib.getCameras().get(0).project(model);
79 img.drawPoint(proj, RGBColour.RED, 1);
80 img.drawPoint(observed, RGBColour.GREEN, 1);
81 }
82 DisplayUtilities.display(img);
83
84 final FImage img1 = ImageUtilities.readF(new URL(
85 "http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/CalibIm1.gif"));
86 DisplayUtilities.display(img1);
87 final FImage img2 = calib.getIntrisics().undistort(img1);
88 DisplayUtilities.display(img2);
89 }
90
91 private static List<Point2dImpl> loadModelPoints() throws MalformedURLException {
92 return loadData(new URL(
93 "http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/Model.txt"));
94 }
95
96 private static List<List<Point2dImpl>> loadImagePoints() throws MalformedURLException {
97 final List<List<Point2dImpl>> data = new ArrayList<List<Point2dImpl>>();
98
99 data.add(loadData(new URL("http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/data1.txt")));
100 data.add(loadData(new URL("http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/data2.txt")));
101 data.add(loadData(new URL("http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/data3.txt")));
102 data.add(loadData(new URL("http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/data4.txt")));
103 data.add(loadData(new URL("http://research.microsoft.com/en-us/um/people/zhang/Calib/Calibration/data5.txt")));
104
105 return data;
106 }
107
108 private static List<Point2dImpl> loadData(URL url) {
109 final List<Point2dImpl> pts = new ArrayList<Point2dImpl>();
110
111 for (final String line : new TextLineIterable(url))
112 {
113 final String[] p = line.split("[ ]+");
114 pts.add(new Point2dImpl(Float.parseFloat(p[0]), Float.parseFloat(p[1])));
115 pts.add(new Point2dImpl(Float.parseFloat(p[2]), Float.parseFloat(p[3])));
116 pts.add(new Point2dImpl(Float.parseFloat(p[4]), Float.parseFloat(p[5])));
117 pts.add(new Point2dImpl(Float.parseFloat(p[6]), Float.parseFloat(p[7])));
118 }
119 return pts;
120 }
121 }