288 lines
11 KiB
Java
288 lines
11 KiB
Java
/*
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* Copyright (c) 2021 OpenFTC Team
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.firstinspires.ftc.teamcode.createdcode.aprilTag;
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import org.opencv.calib3d.Calib3d;
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import org.opencv.core.CvType;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfDouble;
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import org.opencv.core.MatOfPoint2f;
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import org.opencv.core.MatOfPoint3f;
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import org.opencv.core.Point;
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import org.opencv.core.Point3;
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import org.opencv.core.Scalar;
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import org.opencv.imgproc.Imgproc;
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import org.openftc.apriltag.AprilTagDetection;
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import org.openftc.apriltag.AprilTagDetectorJNI;
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import org.openftc.easyopencv.OpenCvPipeline;
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import java.util.ArrayList;
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class AprilTagDetectionPipeline extends OpenCvPipeline {
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private long nativeApriltagPtr;
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private final Mat grey = new Mat();
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private ArrayList<AprilTagDetection> detections = new ArrayList<>();
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private ArrayList<AprilTagDetection> detectionsUpdate = new ArrayList<>();
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private final Object detectionsUpdateSync = new Object();
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Mat cameraMatrix;
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Scalar blue = new Scalar(7, 197, 235, 255);
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Scalar red = new Scalar(255, 0, 0, 255);
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Scalar green = new Scalar(0, 255, 0, 255);
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Scalar white = new Scalar(255, 255, 255, 255);
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double fx;
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double fy;
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double cx;
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double cy;
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// UNITS ARE METERS
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double tagsize;
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double tagsizeX;
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double tagsizeY;
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private float decimation;
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private boolean needToSetDecimation;
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private final Object decimationSync = new Object();
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public AprilTagDetectionPipeline(double tagsize, double fx, double fy, double cx, double cy) {
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this.tagsize = tagsize;
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this.tagsizeX = tagsize;
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this.tagsizeY = tagsize;
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this.fx = fx;
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this.fy = fy;
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this.cx = cx;
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this.cy = cy;
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constructMatrix();
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// Allocate a native context object. See the corresponding deletion in the finalizer
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nativeApriltagPtr = AprilTagDetectorJNI.createApriltagDetector(AprilTagDetectorJNI.TagFamily.TAG_36h11.string, 3, 3);
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}
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@Override
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protected void finalize() {
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// Might be null if createApriltagDetector() threw an exception
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if (nativeApriltagPtr != 0) {
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// Delete the native context we created in the constructor
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AprilTagDetectorJNI.releaseApriltagDetector(nativeApriltagPtr);
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nativeApriltagPtr = 0;
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} else {
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System.out.println("AprilTagDetectionPipeline.finalize(): nativeApriltagPtr was NULL");
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}
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}
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@Override
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public Mat processFrame(Mat input) {
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// Convert to greyscale
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Imgproc.cvtColor(input, grey, Imgproc.COLOR_RGBA2GRAY);
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synchronized (decimationSync) {
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if (needToSetDecimation) {
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AprilTagDetectorJNI.setApriltagDetectorDecimation(nativeApriltagPtr, decimation);
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needToSetDecimation = false;
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}
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}
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// Run AprilTag
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detections = AprilTagDetectorJNI.runAprilTagDetectorSimple(nativeApriltagPtr, grey, tagsize, fx, fy, cx, cy);
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synchronized (detectionsUpdateSync) {
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detectionsUpdate = detections;
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}
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// For fun, use OpenCV to draw 6DOF markers on the image. We actually recompute the pose using
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// OpenCV because I haven't yet figured out how to re-use AprilTag's pose in OpenCV.
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for (AprilTagDetection detection : detections) {
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Pose pose = poseFromTrapezoid(detection.corners, cameraMatrix, tagsizeX, tagsizeY);
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drawAxisMarker(input, tagsizeY / 2.0, 6, pose.rvec, pose.tvec, cameraMatrix);
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draw3dCubeMarker(input, tagsizeX, tagsizeX, tagsizeY, 5, pose.rvec, pose.tvec, cameraMatrix);
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}
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return input;
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}
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public void setDecimation(float decimation) {
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synchronized (decimationSync) {
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this.decimation = decimation;
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needToSetDecimation = true;
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}
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}
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public ArrayList<AprilTagDetection> getLatestDetections() {
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return detections;
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}
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public ArrayList<AprilTagDetection> getDetectionsUpdate() {
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synchronized (detectionsUpdateSync) {
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ArrayList<AprilTagDetection> ret = detectionsUpdate;
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detectionsUpdate = null;
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return ret;
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}
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}
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void constructMatrix() {
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// Construct the camera matrix.
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//
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// -- --
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// | fx 0 cx |
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// | 0 fy cy |
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// | 0 0 1 |
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// -- --
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//
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cameraMatrix = new Mat(3, 3, CvType.CV_32FC1);
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cameraMatrix.put(0, 0, fx);
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cameraMatrix.put(0, 1, 0);
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cameraMatrix.put(0, 2, cx);
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cameraMatrix.put(1, 0, 0);
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cameraMatrix.put(1, 1, fy);
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cameraMatrix.put(1, 2, cy);
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cameraMatrix.put(2, 0, 0);
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cameraMatrix.put(2, 1, 0);
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cameraMatrix.put(2, 2, 1);
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}
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/**
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* Draw a 3D axis marker on a detection. (Similar to what Vuforia does)
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*
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* @param buf the RGB buffer on which to draw the marker
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* @param length the length of each of the marker 'poles'
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* @param rvec the rotation vector of the detection
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* @param tvec the translation vector of the detection
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* @param cameraMatrix the camera matrix used when finding the detection
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*/
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void drawAxisMarker(Mat buf, double length, int thickness, Mat rvec, Mat tvec, Mat cameraMatrix) {
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// The points in 3D space we wish to project onto the 2D image plane.
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// The origin of the coordinate space is assumed to be in the center of the detection.
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MatOfPoint3f axis = new MatOfPoint3f(
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new Point3(0, 0, 0),
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new Point3(length, 0, 0),
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new Point3(0, length, 0),
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new Point3(0, 0, -length)
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);
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// Project those points
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MatOfPoint2f matProjectedPoints = new MatOfPoint2f();
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Calib3d.projectPoints(axis, rvec, tvec, cameraMatrix, new MatOfDouble(), matProjectedPoints);
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Point[] projectedPoints = matProjectedPoints.toArray();
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// Draw the marker!
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Imgproc.line(buf, projectedPoints[0], projectedPoints[1], red, thickness);
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Imgproc.line(buf, projectedPoints[0], projectedPoints[2], green, thickness);
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Imgproc.line(buf, projectedPoints[0], projectedPoints[3], blue, thickness);
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Imgproc.circle(buf, projectedPoints[0], thickness, white, -1);
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}
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void draw3dCubeMarker(Mat buf, double length, double tagWidth, double tagHeight, int thickness, Mat rvec, Mat tvec, Mat cameraMatrix) {
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//axis = np.float32([[0,0,0], [0,3,0], [3,3,0], [3,0,0],
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// [0,0,-3],[0,3,-3],[3,3,-3],[3,0,-3] ])
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// The points in 3D space we wish to project onto the 2D image plane.
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// The origin of the coordinate space is assumed to be in the center of the detection.
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MatOfPoint3f axis = new MatOfPoint3f(
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new Point3(-tagWidth / 2, tagHeight / 2, 0),
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new Point3(tagWidth / 2, tagHeight / 2, 0),
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new Point3(tagWidth / 2, -tagHeight / 2, 0),
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new Point3(-tagWidth / 2, -tagHeight / 2, 0),
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new Point3(-tagWidth / 2, tagHeight / 2, -length),
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new Point3(tagWidth / 2, tagHeight / 2, -length),
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new Point3(tagWidth / 2, -tagHeight / 2, -length),
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new Point3(-tagWidth / 2, -tagHeight / 2, -length));
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// Project those points
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MatOfPoint2f matProjectedPoints = new MatOfPoint2f();
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Calib3d.projectPoints(axis, rvec, tvec, cameraMatrix, new MatOfDouble(), matProjectedPoints);
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Point[] projectedPoints = matProjectedPoints.toArray();
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// Pillars
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for (int i = 0; i < 4; i++) {
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Imgproc.line(buf, projectedPoints[i], projectedPoints[i + 4], blue, thickness);
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}
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// Base lines
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//Imgproc.line(buf, projectedPoints[0], projectedPoints[1], blue, thickness);
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//Imgproc.line(buf, projectedPoints[1], projectedPoints[2], blue, thickness);
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//Imgproc.line(buf, projectedPoints[2], projectedPoints[3], blue, thickness);
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//Imgproc.line(buf, projectedPoints[3], projectedPoints[0], blue, thickness);
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// Top lines
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Imgproc.line(buf, projectedPoints[4], projectedPoints[5], green, thickness);
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Imgproc.line(buf, projectedPoints[5], projectedPoints[6], green, thickness);
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Imgproc.line(buf, projectedPoints[6], projectedPoints[7], green, thickness);
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Imgproc.line(buf, projectedPoints[4], projectedPoints[7], green, thickness);
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}
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/**
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* Extracts 6DOF pose from a trapezoid, using a camera intrinsics matrix and the
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* original size of the tag.
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*
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* @param points the points which form the trapezoid
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* @param cameraMatrix the camera intrinsics matrix
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* @param tagsizeX the original width of the tag
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* @param tagsizeY the original height of the tag
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* @return the 6DOF pose of the camera relative to the tag
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*/
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Pose poseFromTrapezoid(Point[] points, Mat cameraMatrix, double tagsizeX, double tagsizeY) {
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// The actual 2d points of the tag detected in the image
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MatOfPoint2f points2d = new MatOfPoint2f(points);
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// The 3d points of the tag in an 'ideal projection'
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Point3[] arrayPoints3d = new Point3[4];
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arrayPoints3d[0] = new Point3(-tagsizeX / 2, tagsizeY / 2, 0);
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arrayPoints3d[1] = new Point3(tagsizeX / 2, tagsizeY / 2, 0);
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arrayPoints3d[2] = new Point3(tagsizeX / 2, -tagsizeY / 2, 0);
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arrayPoints3d[3] = new Point3(-tagsizeX / 2, -tagsizeY / 2, 0);
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MatOfPoint3f points3d = new MatOfPoint3f(arrayPoints3d);
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// Using this information, actually solve for pose
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Pose pose = new Pose();
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Calib3d.solvePnP(points3d, points2d, cameraMatrix, new MatOfDouble(), pose.rvec, pose.tvec, false);
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return pose;
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}
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/*
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* A simple container to hold both rotation and translation
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* vectors, which together form a 6DOF pose.
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*/
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static class Pose {
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Mat rvec;
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Mat tvec;
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public Pose() {
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rvec = new Mat();
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tvec = new Mat();
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}
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public Pose(Mat rvec, Mat tvec) {
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this.rvec = rvec;
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this.tvec = tvec;
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}
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}
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} |