Examples with CameraPinhole boofcv.struct.calib.CameraPinhole used on opensource projects

Example 86 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class TestSceneStructureMetric method projectToPixel_3D.

@Test
void projectToPixel_3D() {
    var scene = new SceneStructureMetric(false);
    var intrinsic = new CameraPinhole(100, 100, 0, 0, 0, 300, 300);
    var world_to_view = SpecialEuclideanOps_F64.eulerXyz(1, 0, 0, 0, 0.01, -0.04, null);
    scene.initialize(1, 1, 1);
    scene.setView(0, 0, true, world_to_view);
    scene.setCamera(0, true, intrinsic);
    scene.setPoint(0, 0.1, -0.5, 1.1);
    // Point in front of camera
    var pixel = new Point2D_F64();
    assertTrue(scene.projectToPixel(0, 0, new Se3_F64(), new Se3_F64(), new Point3D_F64(), pixel));
    var expected = new Point2D_F64();
    PerspectiveOps.renderPixel(world_to_view, intrinsic, new Point3D_F64(0.1, -0.5, 1.1), expected);
    assertEquals(expected.x, pixel.x, UtilEjml.TEST_F64);
    assertEquals(expected.y, pixel.y, UtilEjml.TEST_F64);
    // sanity check for behind
    scene.setPoint(0, 0.1, -0.5, -1.1);
    assertFalse(scene.projectToPixel(0, 0, new Se3_F64(), new Se3_F64(), new Point3D_F64(), pixel));
}

Example 87 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class ExampleRemoveLensDistortion method main.

public static void main(String[] args) {
    String calibDir = UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/");
    String imageDir = UtilIO.pathExample("structure/");
    // load calibration parameters from the previously calibrated camera
    CameraPinholeBrown param = CalibrationIO.load(new File(calibDir, "intrinsic.yaml"));
    // Specify a transform that has no lens distortion that you wish to re-render the image as having
    CameraPinhole desired = new CameraPinhole(param);
    // load images and convert the image into a color BoofCV format
    BufferedImage orig = UtilImageIO.loadImage(imageDir, "dist_cyto_01.jpg");
    Planar<GrayF32> distortedImg = ConvertBufferedImage.convertFromPlanar(orig, null, true, GrayF32.class);
    int numBands = distortedImg.getNumBands();
    // create new transforms which optimize view area in different ways.
    // EXPAND makes sure there are no black outside of image pixels inside the image
    // FULL_VIEW will include the entire original image
    // The border is VALUE, which defaults to black, just so you can see it
    ImageDistort allInside = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.ZERO, param, desired, null, ImageType.pl(numBands, GrayF32.class));
    ImageDistort fullView = LensDistortionOps.changeCameraModel(AdjustmentType.FULL_VIEW, BorderType.ZERO, param, desired, null, ImageType.pl(numBands, GrayF32.class));
    // NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass
    // in  a set of IntrinsicParameters to the 4th variable it will save it there.
    // NOTE: Type information was stripped from ImageDistort simply because it becomes too verbose with it here.
    // Would be nice if this verbosity issue was addressed by the Java language.
    // render and display the different types of views in a window
    displayResults(orig, distortedImg, allInside, fullView);
}

Example 88 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class ExampleEquirectangularToPinhole method main.

public static void main(String[] args) {
    // Specify what the pinhole camera should look like
    CameraPinhole pinholeModel = new CameraPinhole(200, 200, 0, 250, 250, 500, 500);
    // Load equirectangular RGB image
    BufferedImage bufferedEqui = UtilImageIO.loadImageNotNull(UtilIO.pathExample("spherical/equirectangular_half_dome_01.jpg"));
    Planar<GrayU8> equiImage = ConvertBufferedImage.convertFrom(bufferedEqui, true, ImageType.pl(3, GrayU8.class));
    // Declare storage for pinhole camera image
    Planar<GrayU8> pinholeImage = equiImage.createNew(pinholeModel.width, pinholeModel.height);
    // Create the image distorter which will render the image
    InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.createPixel(0, 255, InterpolationType.BILINEAR, BorderType.EXTENDED, equiImage.getImageType());
    ImageDistort<Planar<GrayU8>, Planar<GrayU8>> distorter = FactoryDistort.distort(false, interp, equiImage.getImageType());
    // This is where the magic is done. It defines the transform rfom equirectangular to pinhole
    CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
    pinholeToEqui.setEquirectangularShape(equiImage.width, equiImage.height);
    pinholeToEqui.setCameraModel(pinholeModel);
    // Pass in the transform to the image distorter
    distorter.setModel(pinholeToEqui);
    // change the orientation of the camera to make the view better
    ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.45f, 2.2f, pinholeToEqui.getRotation());
    // Render the image
    distorter.apply(equiImage, pinholeImage);
    BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage, null, true);
    // Let's look at another view
    ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.25f, -1.25f, pinholeToEqui.getRotation());
    distorter.apply(equiImage, pinholeImage);
    BufferedImage bufferedPinhole1 = ConvertBufferedImage.convertTo(pinholeImage, null, true);
    // Display the results
    ListDisplayPanel panel = new ListDisplayPanel();
    panel.addImage(bufferedPinhole0, "Pinehole View 0");
    panel.addImage(bufferedPinhole1, "Pinehole View 1");
    panel.addImage(bufferedEqui, "Equirectangular");
    panel.setPreferredSize(new Dimension(equiImage.width, equiImage.height));
    ShowImages.showWindow(panel, "Equirectangular to Pinhole", true);
}

Example 89 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class CommonAutoCalibrationChecks method renderStationary.

public void renderStationary(CameraPinhole camera) {
    List<CameraPinhole> cameras = new ArrayList<>();
    for (int i = 0; i < 11; i++) {
        Se3_F64 cameraToWorld = new Se3_F64();
        listCameraToWorld.add(cameraToWorld);
        cameras.add(camera);
    }
    render(cameras);
}

Example 90 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class CommonAutoCalibrationChecks method renderRotationOnly.

public void renderRotationOnly(CameraPinhole camera) {
    List<CameraPinhole> cameras = new ArrayList<>();
    for (int i = 0; i < 11; i++) {
        double yaw = Math.PI * i / 9.0;
        double pitch = Math.PI * i / 20.0;
        double roll = rand.nextGaussian() * 0.1;
        Se3_F64 cameraToWorld = new Se3_F64();
        ConvertRotation3D_F64.eulerToMatrix(EulerType.YZX, yaw, roll, pitch, cameraToWorld.R);
        listCameraToWorld.add(cameraToWorld);
        cameras.add(camera);
    }
    render(cameras);
}