Examples with LensDistortionUniversalOmni boofcv.alg.distort.universal.LensDistortionUniversalOmni used on opensource projects

Example 1 with LensDistortionUniversalOmni

use of boofcv.alg.distort.universal.LensDistortionUniversalOmni in project BoofCV by lessthanoptimal.

the class TestNarrowToWidePtoP_F64 method createModelWide.

public static LensDistortionWideFOV createModelWide() {
    CameraUniversalOmni model = new CameraUniversalOmni(2);
    model.fsetK(1.349e3, 1.343e3, 0, 480, 480, 960, 1080);
    model.fsetMirror(3.61);
    model.fsetRadial(7.308e-1, 1.855e1);
    model.fsetTangental(-1.288e-2, -1.1342e-2);
    return new LensDistortionUniversalOmni(model);
}

Example 2 with LensDistortionUniversalOmni

use of boofcv.alg.distort.universal.LensDistortionUniversalOmni in project BoofCV by lessthanoptimal.

the class FisheyePinholeApp method openFile.

@Override
public void openFile(File file) {
    File intrinsicFile = new File(file.getParent(), "front.yaml");
    CameraUniversalOmni fisheyeModel = CalibrationIO.load(intrinsicFile);
    fisheyeDistort = new LensDistortionUniversalOmni(fisheyeModel);
    distorter.configure(new LensDistortionPinhole(cameraModel), fisheyeDistort);
    super.openFile(file);
}

Example 3 with LensDistortionUniversalOmni

use of boofcv.alg.distort.universal.LensDistortionUniversalOmni in project BoofCV by lessthanoptimal.

the class ExampleFisheyeToEquirectangular 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 model0 = CalibrationIO.load(new File(fisheyePath, "front.yaml"));
    CameraUniversalOmni model1 = CalibrationIO.load(new File(fisheyePath, "back.yaml"));
    LensDistortionWideFOV distort0 = new LensDistortionUniversalOmni(model0);
    LensDistortionWideFOV distort1 = new LensDistortionUniversalOmni(model1);
    ImageType<Planar<GrayF32>> imageType = ImageType.pl(3, GrayF32.class);
    InterpolatePixel<Planar<GrayF32>> interp = FactoryInterpolation.createPixel(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, imageType);
    ImageDistort<Planar<GrayF32>, Planar<GrayF32>> distort = FactoryDistort.distort(false, interp, imageType);
    // This will create an equirectangular image with 800 x 400 pixels
    MultiCameraToEquirectangular<Planar<GrayF32>> alg = new MultiCameraToEquirectangular<>(distort, 800, 400, imageType);
    // this is an important parameter and is used to filter out falsely mirrored pixels
    alg.setMaskToleranceAngle(UtilAngle.radian(0.1f));
    // camera has a known FOV of 185 degrees
    GrayU8 mask0 = createMask(model0, distort0, UtilAngle.radian(182));
    // the edges are likely to be noisy,
    GrayU8 mask1 = createMask(model1, distort1, UtilAngle.radian(182));
    // so crop it a bit..
    // Rotate camera axis so that +x is forward and not +z and make it visually pleasing
    FMatrixRMaj adjR = ConvertRotation3D_F32.eulerToMatrix(EulerType.XYZ, GrlConstants.F_PI / 2, 0, 0, null);
    // Rotation from the front camera to the back facing camera.
    // This is only an approximation.  Should be determined through calibration.
    FMatrixRMaj f2b = ConvertRotation3D_F32.eulerToMatrix(EulerType.ZYX, GrlConstants.F_PI, 0, 0, null);
    Se3_F32 frontToFront = new Se3_F32();
    frontToFront.setRotation(adjR);
    Se3_F32 frontToBack = new Se3_F32();
    CommonOps_FDRM.mult(f2b, adjR, frontToBack.R);
    // add the camera and specify which pixels are valid.  These functions precompute the entire transform
    // and can be relatively slow, but generating the equirectangular image should be much faster
    alg.addCamera(frontToBack, distort0, mask0);
    alg.addCamera(frontToFront, distort1, mask1);
    // Load fisheye RGB image
    BufferedImage buffered0 = UtilImageIO.loadImage(fisheyePath, "front_table.jpg");
    Planar<GrayF32> fisheye0 = ConvertBufferedImage.convertFrom(buffered0, true, ImageType.pl(3, GrayF32.class));
    BufferedImage buffered1 = UtilImageIO.loadImage(fisheyePath, "back_table.jpg");
    Planar<GrayF32> fisheye1 = ConvertBufferedImage.convertFrom(buffered1, true, ImageType.pl(3, GrayF32.class));
    List<Planar<GrayF32>> images = new ArrayList<>();
    images.add(fisheye0);
    images.add(fisheye1);
    alg.render(images);
    BufferedImage equiOut = ConvertBufferedImage.convertTo(alg.getRenderedImage(), null, true);
    ShowImages.showWindow(equiOut, "Dual Fisheye to Equirectangular", true);
}

Example 4 with LensDistortionUniversalOmni

use of boofcv.alg.distort.universal.LensDistortionUniversalOmni 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 5 with LensDistortionUniversalOmni

use of boofcv.alg.distort.universal.LensDistortionUniversalOmni in project BoofCV by lessthanoptimal.

the class SimulatePlanarWorld method setCamera.

public void setCamera(CameraUniversalOmni model) {
    output.reshape(model.width, model.height);
    depthMap.reshape(model.width, model.height);
    LensDistortionWideFOV factory = new LensDistortionUniversalOmni(model);
    pixelTo3 = factory.undistortPtoS_F64();
    sphereToPixel = factory.distortStoP_F64();
    computeProjectionTable(model);
}