Examples with LensDistortionPinhole boofcv.alg.distort.pinhole.LensDistortionPinhole used on opensource projects

Example 11 with LensDistortionPinhole

use of boofcv.alg.distort.pinhole.LensDistortionPinhole in project BoofCV by lessthanoptimal.

the class ExampleFisheyeToPinhole method main.

public static void main(String[] args) {
    // Path to image data and calibration data
    String fisheyePath = UtilIO.pathExample("fisheye/theta/");
    // load the fisheye camera parameters
    CameraUniversalOmni fisheyeModel = CalibrationIO.load(new File(fisheyePath, "front.yaml"));
    // Specify what the pinhole camera should look like
    CameraPinhole pinholeModel = new CameraPinhole(400, 400, 0, 300, 300, 600, 600);
    // Create the transform from pinhole to fisheye views
    LensDistortionNarrowFOV pinholeDistort = new LensDistortionPinhole(pinholeModel);
    LensDistortionWideFOV fisheyeDistort = new LensDistortionUniversalOmni(fisheyeModel);
    NarrowToWidePtoP_F32 transform = new NarrowToWidePtoP_F32(pinholeDistort, fisheyeDistort);
    // Load fisheye RGB image
    BufferedImage bufferedFisheye = UtilImageIO.loadImage(fisheyePath, "front_table.jpg");
    Planar<GrayU8> fisheyeImage = ConvertBufferedImage.convertFrom(bufferedFisheye, true, ImageType.pl(3, GrayU8.class));
    // Create the image distorter which will render the image
    InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.createPixel(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, fisheyeImage.getImageType());
    ImageDistort<Planar<GrayU8>, Planar<GrayU8>> distorter = FactoryDistort.distort(false, interp, fisheyeImage.getImageType());
    // Pass in the transform created above
    distorter.setModel(new PointToPixelTransform_F32(transform));
    // Render the image. The camera will have a rotation of 0 and will thus be looking straight forward
    Planar<GrayU8> pinholeImage = fisheyeImage.createNew(pinholeModel.width, pinholeModel.height);
    distorter.apply(fisheyeImage, pinholeImage);
    BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage, null, true);
    // rotate the virtual pinhole camera to the right
    transform.setRotationWideToNarrow(ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0.8f, 0, 0, null));
    distorter.apply(fisheyeImage, pinholeImage);
    BufferedImage bufferedPinhole1 = ConvertBufferedImage.convertTo(pinholeImage, null, true);
    // Display the results
    ListDisplayPanel panel = new ListDisplayPanel();
    panel.addImage(bufferedPinhole0, "Pinehole Forward");
    panel.addImage(bufferedPinhole1, "Pinehole Right");
    panel.addImage(bufferedFisheye, "Fisheye");
    panel.setPreferredSize(new Dimension(600, 450));
    ShowImages.showWindow(panel, "Fisheye to Pinhole", true);
}

Example 12 with LensDistortionPinhole

use of boofcv.alg.distort.pinhole.LensDistortionPinhole in project BoofCV by lessthanoptimal.

the class DisplayFisheyeCalibrationPanel method setCalibration.

public void setCalibration(CameraUniversalOmni fisheyeModel) {
    BoofSwingUtil.checkGuiThread();
    LensDistortionNarrowFOV pinholeDistort = new LensDistortionPinhole(pinholeModel);
    fisheyeDistort = new LensDistortionUniversalOmni(fisheyeModel);
    distorter = new NarrowToWidePtoP_F32(pinholeDistort, fisheyeDistort);
    // Create the image distorter which will render the image
    InterpolatePixel<Planar<GrayF32>> interp = FactoryInterpolation.createPixel(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, imageFisheye.getImageType());
    distortImage = FactoryDistort.distort(false, interp, imageFisheye.getImageType());
    // Pass in the transform created above
    distortImage.setModel(new PointToPixelTransform_F32(distorter));
    setPinholeCenter(fisheyeModel.width / 2, fisheyeModel.height / 2);
    renderPinhole();
}

Example 13 with LensDistortionPinhole

use of boofcv.alg.distort.pinhole.LensDistortionPinhole in project BoofCV by lessthanoptimal.

the class DisplayFisheyeCalibrationPanel method setCalibration.

public void setCalibration(LensDistortionWideFOV fisheyeDistort, int width, int height) {
    BoofSwingUtil.checkGuiThread();
    this.fisheyeDistort = fisheyeDistort;
    LensDistortionNarrowFOV pinholeDistort = new LensDistortionPinhole(pinholeModel);
    distorter = new NarrowToWidePtoP_F32(pinholeDistort, fisheyeDistort);
    // Create the image distorter which will render the image
    InterpolatePixel<Planar<GrayF32>> interp = FactoryInterpolation.createPixel(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, imageFisheye.getImageType());
    distortImage = FactoryDistort.distort(false, interp, imageFisheye.getImageType());
    // Pass in the transform created above
    distortImage.setModel(new PointToPixelTransform_F32(distorter));
    setPinholeCenter(width / 2, height / 2);
    renderPinhole();
}

Example 14 with LensDistortionPinhole

use of boofcv.alg.distort.pinhole.LensDistortionPinhole in project BoofCV by lessthanoptimal.

the class CameraToEquirectangular_F64 method setCameraModel.

public void setCameraModel(CameraPinhole camera) {
    Point2Transform2_F64 pixelToNormalized = new LensDistortionPinhole(camera).undistort_F64(true, false);
    setCameraModel(camera.width, camera.height, pixelToNormalized);
}

Example 15 with LensDistortionPinhole

use of boofcv.alg.distort.pinhole.LensDistortionPinhole in project BoofCV by lessthanoptimal.

the class FisheyePinholeApp method updatedPinholeModel.

@Override
public void updatedPinholeModel(int width, int height, double fov) {
    final boolean shapeChanged = camWidth != width || camHeight != height;
    this.camWidth = width;
    this.camHeight = height;
    this.hfov = fov;
    synchronized (imageLock) {
        if (shapeChanged) {
            panelPinhole.setPreferredSize(new Dimension(camWidth, camHeight));
            pinhole.reshape(camWidth, camHeight);
            buffPinhole = new BufferedImage(camWidth, camHeight, BufferedImage.TYPE_INT_BGR);
        }
        updateIntrinsic();
        distorter.configure(new LensDistortionPinhole(cameraModel), fisheyeDistort);
        distortImage.setModel(new PointToPixelTransform_F32(distorter));
        SwingUtilities.invokeLater(new Runnable() {

            @Override
            public void run() {
                if (shapeChanged) {
                    panelPinhole.setPreferredSize(new Dimension(camWidth, camHeight));
                    panelPinhole.setMinimumSize(new Dimension(camWidth, camHeight));
                    panelPinhole.setMaximumSize(new Dimension(camWidth, camHeight));
                    imageView.setDividerLocation(-1);
                }
            }
        });
        if (inputMethod == InputMethod.IMAGE) {
            rerenderPinhole();
        }
    }
}