Example usage for org.opencv.core MatOfPoint2f release

Introduction

In this page you can find the example usage for org.opencv.core MatOfPoint2f release.

Prototype

public void release() 

Source Link

Usage

From source file:arlocros.ComputePose.java

License:Apache License

public boolean computePose(Mat rvec, Mat tvec, Mat image2) throws NyARException, FileNotFoundException {
    // convert image to NyAR style for processing
    final INyARRgbRaster imageRaster = NyARImageHelper.createFromMat(image2);

    // create new marker system configuration
    i_config = new NyARMarkerSystemConfig(i_param);
    markerSystemState = new NyARMarkerSystem(i_config);
    // Create wrapper that passes cam pictures to marker system
    cameraSensorWrapper = new NyARSensor(i_screen_size);
    ids = new int[markerPatterns.size()];
    patternmap = new HashMap<>();
    for (int i = 0; i < markerPatterns.size(); i++) {
        // create marker description from pattern file and add to marker
        // system
        ids[i] = markerSystemState.addARMarker(arCodes.get(i), 25, markerConfig.getMarkerSize());
        patternmap.put(ids[i], markerPatterns.get(i));
    }/*from w  w w.  j a  v  a2  s .co m*/

    cameraSensorWrapper.update(imageRaster);
    markerSystemState.update(cameraSensorWrapper);

    // init 3D point list
    final List<Point3> points3dlist = new ArrayList<>();
    final List<Point> points2dlist = new ArrayList<>();

    for (final int id : ids) {
        // process only if this marker has been detected
        if (markerSystemState.isExistMarker(id) && markerSystemState.getConfidence(id) > 0.7) {
            // read and add 2D points
            final NyARIntPoint2d[] vertex2d = markerSystemState.getMarkerVertex2D(id);
            Point p = new Point(vertex2d[0].x, vertex2d[0].y);
            points2dlist.add(p);
            p = new Point(vertex2d[1].x, vertex2d[2].y);
            points2dlist.add(p);
            p = new Point(vertex2d[2].x, vertex2d[2].y);
            points2dlist.add(p);
            p = new Point(vertex2d[3].x, vertex2d[3].y);
            points2dlist.add(p);

            //            final MatOfPoint mop = new MatOfPoint();
            //            mop.fromList(points2dlist);
            //            final List<MatOfPoint> pts = new ArrayList<>();
            //            pts.add(mop);

            // read and add corresponding 3D points
            points3dlist.addAll(markerConfig.create3dpointlist(patternmap.get(id)));

            if (visualization) {
                // draw red rectangle around detected marker
                Core.rectangle(image2, new Point(vertex2d[0].x, vertex2d[0].y),
                        new Point(vertex2d[2].x, vertex2d[2].y), new Scalar(0, 0, 255));
                final String markerFile = patternmap.get(id).replaceAll(".*4x4_", "").replace(".patt", "");
                Core.putText(image2, markerFile,
                        new Point((vertex2d[2].x + vertex2d[0].x) / 2.0, vertex2d[0].y - 5), 4, 1,
                        new Scalar(250, 0, 0));
            }
        }

    }
    // load 2D and 3D points to Mats for solvePNP
    final MatOfPoint3f objectPoints = new MatOfPoint3f();
    objectPoints.fromList(points3dlist);
    final MatOfPoint2f imagePoints = new MatOfPoint2f();
    imagePoints.fromList(points2dlist);

    if (visualization) {
        // show image with markers detected
        Imshow.show(image2);
    }

    // do not call solvePNP with empty intput data (no markers detected)
    if (points2dlist.size() == 0) {
        objectPoints.release();
        imagePoints.release();
        return false;
    }

    // uncomment these lines if using RANSAC-based pose estimation (more
    // shaking)
    Mat inliers = new Mat();

    Calib3d.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, false, 300, 5, 16,
            inliers, Calib3d.CV_P3P);
    ArMarkerPoseEstimator.getLog()
            .info("Points detected: " + points2dlist.size() + " inliers: " + inliers.size());

    objectPoints.release();
    imagePoints.release();

    // avoid publish zero pose if localization failed
    if (inliers.rows() == 0) {
        inliers.release();
        return false;
    }

    inliers.release();
    return true;
}

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