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

Example 51 with CameraPinholeRadial

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

the class TestUtilOpenCV method savePinholeRadial.

@Test
public void savePinholeRadial() {
    CameraPinholeRadial model = new CameraPinholeRadial();
    model.fsetK(1, 2, 3, 4, 0.65, 100, 7);
    model.fsetRadial(.1, .2, .3);
    model.fsetTangental(0.5, 0.7);
    UtilOpenCV.save(model, "temp.yml");
    CameraPinholeRadial found = UtilOpenCV.loadPinholeRadial("temp.yml");
    assertEquals(model.width, found.width);
    assertEquals(model.height, found.height);
    assertEquals(model.fx, found.fx, 1e-8);
    assertEquals(model.fy, found.fy, 1e-8);
    assertEquals(model.skew, found.skew, 1e-8);
    assertEquals(model.cx, found.cx, 1e-8);
    assertEquals(model.cy, found.cy, 1e-8);
    for (int i = 0; i < 3; i++) {
        assertEquals(model.radial[i], found.radial[i], 1e-8);
    }
    assertEquals(model.t1, found.t1, 1e-8);
    assertEquals(model.t2, found.t2, 1e-8);
    assertTrue(new File("temp.yml").delete());
}

Example 52 with CameraPinholeRadial

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

the class TestPnPStereoResidualReprojection method compareToReprojection.

@Test
public void compareToReprojection() {
    Se3_F64 worldToLeft = new Se3_F64();
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.1, 1, -0.2, worldToLeft.getR());
    worldToLeft.getT().set(-0.3, 0.4, 1);
    generateScene(10, worldToLeft, false);
    // make the input model incorrect
    worldToLeft.getR().set(2, 1, 2);
    // compute the error in normalized image coordinates per element
    PnPStereoResidualReprojection alg = new PnPStereoResidualReprojection();
    alg.setModel(new StereoPose(worldToLeft, leftToRight));
    // compute errors with perfect model
    double[] error = new double[alg.getN()];
    alg.computeResiduals(pointPose.get(0), error, 0);
    double found = 0;
    for (double e : error) {
        found += e * e;
    }
    PnPStereoDistanceReprojectionSq validation = new PnPStereoDistanceReprojectionSq();
    StereoParameters param = new StereoParameters();
    param.rightToLeft = this.param.rightToLeft;
    // intrinsic parameters are configured to be identical to normalized image coordinates
    param.left = new CameraPinholeRadial(1, 1, 0, 0, 0, 0, 0).fsetRadial(0, 0);
    param.right = new CameraPinholeRadial(1, 1, 0, 0, 0, 0, 0).fsetRadial(0, 0);
    validation.setStereoParameters(param);
    validation.setModel(worldToLeft);
    double expected = validation.computeDistance(pointPose.get(0));
    assertEquals(expected, found, 1e-8);
}

Example 53 with CameraPinholeRadial

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

the class TestObjectSerialization method testIntrinsicParamters.

@Test
public void testIntrinsicParamters() {
    CameraPinholeRadial original = new CameraPinholeRadial().fsetK(1, 2, 3, 4, 5, 6, 7).fsetRadial(8, 9).fsetTangental(10, 11);
    CameraPinholeRadial found = serializeDeSerialize(original);
    assertEquals(original.fx, found.fx, 1e-8);
    assertEquals(original.fy, found.fy, 1e-8);
    assertEquals(original.skew, found.skew, 1e-8);
    assertEquals(original.cx, found.cx, 1e-8);
    assertEquals(original.cy, found.cy, 1e-8);
    assertEquals(original.width, found.width);
    assertEquals(original.height, found.height);
    assertEquals(original.radial[0], found.radial[0], 1e-8);
    assertEquals(original.radial[1], found.radial[1], 1e-8);
    assertEquals(original.t1, found.t1, 1e-8);
    assertEquals(original.t2, found.t2, 1e-8);
}

Example 54 with CameraPinholeRadial

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

the class TestDepthSparse3D method basicTest.

@Test
public void basicTest() {
    GrayU16 depth = new GrayU16(w, h);
    depth.set(5, 6, 1000);
    CameraPinholeRadial param = new CameraPinholeRadial(1, 1, 0, 5, 10, w, h).fsetRadial(0, 0);
    PixelTransform2_F32 v2d = new PixelTransform2_F32() {

        @Override
        public void compute(int x, int y) {
            distX = x + 1;
            distY = y + 2;
        }
    };
    DepthSparse3D<GrayU16> alg = new DepthSparse3D.I<>(2.1);
    alg.configure(LensDistortionOps.narrow(param), v2d);
    alg.setDepthImage(depth);
    assertTrue(alg.process(4, 4));
    Point3D_F64 found = alg.getWorldPt();
    Point2D_F64 norm = new Point2D_F64();
    PerspectiveOps.convertPixelToNorm(param, new Point2D_F64(4, 4), norm);
    double z = 1000 * 2.1;
    assertEquals(z, found.z, 1e-8);
    assertEquals(norm.x * z, found.x, 1e-8);
    assertEquals(norm.y * z, found.y, 1e-8);
}

Example 55 with CameraPinholeRadial

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

the class CameraCalibration method handleDirectory.

protected void handleDirectory() {
    final CalibrateMonoPlanar calibrationAlg = new CalibrateMonoPlanar(detector.getLayout());
    final CalibratedPlanarPanel gui;
    ProcessThread monitor = null;
    switch(modeType) {
        case PINHOLE:
            calibrationAlg.configurePinhole(zeroSkew, numRadial, tangential);
            break;
        case UNIVERSAL:
            calibrationAlg.configureUniversalOmni(zeroSkew, numRadial, tangential);
            break;
        default:
            throw new RuntimeException("Unknown model type: " + modeType);
    }
    if (visualize) {
        switch(modeType) {
            case PINHOLE:
                gui = new MonoPlanarPanel();
                break;
            case UNIVERSAL:
                gui = new FisheyePlanarPanel();
                break;
            default:
                throw new RuntimeException("Unknown model type: " + modeType);
        }
        monitor = new ProcessThread(gui);
        monitor.start();
    } else {
        gui = null;
    }
    File directory = new File(inputDirectory);
    if (!directory.exists()) {
        System.err.println("Input directory doesn't exist!");
        System.err.println("  " + inputDirectory);
        System.exit(0);
    }
    List<File> files = Arrays.asList(directory.listFiles());
    BoofMiscOps.sortFilesByName(files);
    if (files.isEmpty()) {
        System.err.println("No image files found!");
        System.err.println(inputDirectory);
        System.exit(0);
    }
    if (visualize) {
        monitor.setMessage(0, "Loading images");
    }
    final List<File> imagesSuccess = new ArrayList<>();
    final List<File> imagesFailed = new ArrayList<>();
    boolean first = true;
    for (File f : files) {
        if (f.isDirectory() || f.isHidden())
            continue;
        final BufferedImage buffered = UtilImageIO.loadImage(f.getPath());
        if (buffered == null)
            continue;
        GrayF32 image = ConvertBufferedImage.convertFrom(buffered, (GrayF32) null);
        if (visualize) {
            monitor.setMessage(0, f.getName());
            if (first) {
                first = false;
                // should do this more intelligently based on image resolution
                int width = Math.min(1000, image.getWidth());
                int height = Math.min(width * image.height / image.width, image.getHeight());
                gui.mainView.setPreferredSize(new Dimension(width, height));
                gui.showImageProcessed(buffered);
                ShowImages.showWindow(gui, "Monocular Calibration", true);
            } else {
                BoofSwingUtil.invokeNowOrLater(new Runnable() {

                    @Override
                    public void run() {
                        gui.showImageProcessed(buffered);
                    }
                });
            }
        }
        if (!detector.process(image)) {
            imagesFailed.add(f);
            System.err.println("Failed to detect target in " + f.getName());
        } else {
            calibrationAlg.addImage(detector.getDetectedPoints());
            imagesSuccess.add(f);
        }
    }
    if (visualize) {
        monitor.setMessage(1, "Computing intrinsics");
    }
    // process and compute intrinsic parameters
    try {
        final CameraModel intrinsic = calibrationAlg.process();
        if (visualize) {
            monitor.stopThread();
            if (imagesFailed.size() > 0) {
                JOptionPane.showMessageDialog(gui, "Failed to detect in " + imagesFailed.size() + " images");
            }
            SwingUtilities.invokeLater(new Runnable() {

                public void run() {
                    gui.setImages(imagesSuccess);
                    gui.setImagesFailed(imagesFailed);
                    gui.setObservations(calibrationAlg.getObservations());
                    gui.setResults(calibrationAlg.getErrors());
                    gui.setCalibration(calibrationAlg.getZhangParam());
                    gui.setCorrection(intrinsic);
                    gui.repaint();
                }
            });
        }
        calibrationAlg.printStatistics();
        System.out.println();
        System.out.println("--- " + modeType + " Parameters ---");
        System.out.println();
        switch(modeType) {
            case PINHOLE:
                {
                    CameraPinholeRadial m = (CameraPinholeRadial) intrinsic;
                    switch(formatType) {
                        case BOOFCV:
                            CalibrationIO.save(m, outputFileName);
                            break;
                        case OPENCV:
                            UtilOpenCV.save(m, outputFileName);
                            break;
                    }
                    m.print();
                }
                break;
            case UNIVERSAL:
                {
                    CameraUniversalOmni m = (CameraUniversalOmni) intrinsic;
                    CalibrationIO.save(m, outputFileName);
                    m.print();
                }
                break;
            default:
                throw new RuntimeException("Unknown model type. " + modeType);
        }
        System.out.println();
        System.out.println("Save file format " + formatType);
        System.out.println();
    } catch (RuntimeException e) {
        if (visualize)
            BoofSwingUtil.warningDialog(gui, e);
        e.printStackTrace();
        System.exit(1);
    }
}