Examples with LensDistortionBrown boofcv.alg.distort.brown.LensDistortionBrown used on opensource projects

Example 11 with LensDistortionBrown

use of boofcv.alg.distort.brown.LensDistortionBrown in project BoofCV by lessthanoptimal.

the class GenericFiducialTrackerChecks method checkTracking.

/**
 * Send it through a sequence of image and see if it blows up.
 *
 * Could improve the tracking test by resetting the tracker and seeing if the output changes.
 */
@Test
void checkTracking() {
    boolean distorted = false;
    LensDistortionBrown lensDistorted = new LensDistortionBrown(loadDistortion(distorted));
    for (ImageType type : types) {
        FiducialDetector detector = createDetector(type);
        Se3_F64 pose = new Se3_F64();
        for (int timeStep = 0; timeStep < 10; timeStep++) {
            Se3_F64 markerToWorld = eulerXyz(-0.05 * timeStep, 0, 1.5, 0.1, Math.PI, 0.15 * timeStep, null);
            ImageBase imageD = renderImage(loadDistortion(distorted), markerToWorld, type);
            detector.setLensDistortion(lensDistorted, imageD.width, imageD.height);
            detector.detect(imageD);
            // ShowImages.showBlocking(imageD,"Distorted", 1_000);
            assertEquals(1, detector.totalFound());
            detector.getFiducialToCamera(0, pose);
            pose.T.scale(markerToWorld.T.norm() / pose.T.norm());
            Se3_F64 diff = markerToWorld.concat(pose.invert(null), null);
            double theta = ConvertRotation3D_F64.matrixToRodrigues(diff.R, null).theta;
            assertEquals(0, diff.T.norm(), tolAccuracyT);
            assertEquals(Math.PI, theta, tolAccuracyTheta);
        }
    }
}

Example 12 with LensDistortionBrown

use of boofcv.alg.distort.brown.LensDistortionBrown in project BoofCV by lessthanoptimal.

the class SimulatePlanarWorld method setCamera.

public void setCamera(CameraPinholeBrown model) {
    LensDistortionNarrowFOV factory = new LensDistortionBrown(model);
    setCamera(factory, model.width, model.height);
}

Example 13 with LensDistortionBrown

use of boofcv.alg.distort.brown.LensDistortionBrown in project BoofCV by lessthanoptimal.

the class ColorizeMultiViewStereoResults method processScenePoints.

/**
 * Looks up the colors for all the points in the scene by reprojecting them back onto their original images.
 *
 * @param scene (Input) Scene's structure
 * @param indexToId (Input) Convert view index to view ID
 * @param indexColor (Output) RGB values are passed through to this function.
 */
public void processScenePoints(SceneStructureMetric scene, BoofLambdas.IndexToString indexToId, BoofLambdas.IndexRgbConsumer indexColor) {
    // Loading images is expensive so when we get the color of each pixel we want to process all features
    // inside the same image at once. Unfortunately there is no fast way to look up all features by image.
    // So a lookup table is constructed below
    List<DogArray_I32> lookupPointsByView = new ArrayList<>();
    for (int i = 0; i < scene.views.size; i++) {
        lookupPointsByView.add(new DogArray_I32());
    }
    // Add the first view each point was seen in to the list
    for (int pointIdx = 0; pointIdx < scene.points.size; pointIdx++) {
        SceneStructureCommon.Point p = scene.points.get(pointIdx);
        lookupPointsByView.get(p.views.get(0)).add(pointIdx);
    }
    // TODO in the future generalize this for 3D and 4D points
    var iterator = new ScenePointsSetIterator<>(new PointIndex4D_F64());
    var world_to_view = new Se3_F64();
    for (int viewIdx = 0; viewIdx < lookupPointsByView.size(); viewIdx++) {
        // Load the image
        checkTrue(lookupImages.loadImage(indexToId.process(viewIdx), image), "Failed to load image");
        // Set up the iterator for this image
        iterator.initialize(scene, lookupPointsByView.get(viewIdx));
        // Get the view that is being processed
        SceneStructureMetric.View v = scene.views.get(viewIdx);
        // Setup the camera projection model using bundle adjustment model directly
        BundleAdjustmentOps.convert(scene.getViewCamera(v).model, image.width, image.height, intrinsic);
        Point2Transform2_F64 norm_to_pixel = new LensDistortionBrown(intrinsic).distort_F64(false, true);
        // Get the transform from world/cloud to this view
        scene.getWorldToView(v, world_to_view, tmp);
        // Grab the colorized points from this view
        colorizer.process4(image, iterator, world_to_view, norm_to_pixel, indexColor);
    }
}

Example 14 with LensDistortionBrown

use of boofcv.alg.distort.brown.LensDistortionBrown in project BoofCV by lessthanoptimal.

the class MultiViewStereoFromKnownSceneStructure method computeFusedDisparityAddCloud.

/**
 * Combing stereo information from all images in this cluster, compute a disparity image and add it to the cloud
 */
boolean computeFusedDisparityAddCloud(SceneStructureMetric scene, ViewInfo center, TIntObjectMap<String> sbaIndexToName, DogArray_I32 pairIndexes) {
    if (!computeFused.process(scene, center.relations.indexSba, pairIndexes, sbaIndexToName::get)) {
        if (verbose != null)
            verbose.println("FAILED: fused disparity. center.index=" + center.index);
        return false;
    }
    // The fused disparity doesn't compute a mask since all invalid pixels are marked as invalid using
    // the disparity value
    GrayF32 disparity = computeFused.fusedDisparity;
    dummyMask.reshape(disparity);
    ImageMiscOps.fill(dummyMask, 0);
    // Pass along results to the listener
    if (listener != null) {
        listener.handleFusedDisparity(center.relations.id, disparity, dummyMask, computeFused.fusedParam);
    }
    // Convert data structures into a format which is understood by disparity to cloud
    BundleAdjustmentCamera camera = scene.cameras.get(center.metric.camera).model;
    BundleAdjustmentOps.convert(camera, disparity.width, disparity.height, brown);
    // The fused disparity is in regular pixels and not rectified
    Point2Transform2_F64 norm_to_pixel = new LensDistortionBrown(brown).distort_F64(false, true);
    Point2Transform2_F64 pixel_to_norm = new LensDistortionBrown(brown).undistort_F64(true, false);
    // world/cloud coordinates into this view
    scene.getWorldToView(center.metric, world_to_view1, tmp);
    // Use the computed disparity to add to the common point cloud while not adding points already in
    // the cloud
    disparityCloud.addDisparity(disparity, dummyMask, world_to_view1, computeFused.fusedParam, norm_to_pixel, new PointToPixelTransform_F64(pixel_to_norm));
    return true;
}

Example 15 with LensDistortionBrown

use of boofcv.alg.distort.brown.LensDistortionBrown in project BoofCV by lessthanoptimal.

the class VisualizeSquareFiducial method process.

public void process(String nameImage, @Nullable String nameIntrinsic) {
    CameraPinholeBrown intrinsic = nameIntrinsic == null ? null : (CameraPinholeBrown) CalibrationIO.load(nameIntrinsic);
    GrayF32 input = Objects.requireNonNull(UtilImageIO.loadImage(nameImage, GrayF32.class));
    GrayF32 undistorted = new GrayF32(input.width, input.height);
    Detector detector = new Detector();
    if (intrinsic != null) {
        var paramUndist = new CameraPinholeBrown();
        ImageDistort<GrayF32, GrayF32> undistorter = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.EXTENDED, intrinsic, new CameraPinhole(intrinsic), paramUndist, ImageType.single(GrayF32.class));
        detector.configure(new LensDistortionBrown(paramUndist), paramUndist.width, paramUndist.height, false);
        undistorter.apply(input, undistorted);
    } else {
        undistorted.setTo(input);
    }
    detector.process(undistorted);
    System.out.println("Total Found: " + detector.squares.size());
    DogArray<FoundFiducial> fiducials = detector.getFound();
    int N = Math.min(20, detector.squares.size());
    ListDisplayPanel squares = new ListDisplayPanel();
    for (int i = 0; i < N; i++) {
        squares.addImage(ConvertBufferedImage.convertTo(detector.squares.get(i), null), " " + i);
    }
    BufferedImage output = new BufferedImage(input.width, input.height, BufferedImage.TYPE_INT_RGB);
    VisualizeBinaryData.renderBinary(detector.getBinary(), false, output);
    Graphics2D g2 = output.createGraphics();
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    g2.setColor(Color.RED);
    g2.setStroke(new BasicStroke(2));
    if (intrinsic != null) {
        Point2Transform2_F64 add_p_to_p = LensDistortionFactory.narrow(intrinsic).distort_F64(true, true);
        for (int i = 0; i < N; i++) {
            // add back in lens distortion
            Quadrilateral_F64 q = fiducials.get(i).distortedPixels;
            apply(add_p_to_p, q.a, q.a);
            apply(add_p_to_p, q.b, q.b);
            apply(add_p_to_p, q.c, q.c);
            apply(add_p_to_p, q.d, q.d);
            VisualizeShapes.draw(q, g2);
        }
    }
    BufferedImage outputGray = new BufferedImage(input.width, input.height, BufferedImage.TYPE_INT_RGB);
    ConvertBufferedImage.convertTo(undistorted, outputGray);
    g2 = outputGray.createGraphics();
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    for (int i = 0; i < N; i++) {
        // add back in lens distortion
        Quadrilateral_F64 q = fiducials.get(i).distortedPixels;
        // g2.setStroke(new BasicStroke(2));
        // VisualizeBinaryData.render(detector.getSquareDetector().getUsedContours(),Color.BLUE,outputGray);
        VisualizeShapes.drawArrowSubPixel(q, 3, 1, g2);
    }
    ShowImages.showWindow(output, "Binary");
    ShowImages.showWindow(outputGray, "Gray");
    ShowImages.showWindow(squares, "Candidates");
}