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

Example 56 with CameraPinholeRadial

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

the class ExampleFiducialBinary method main.

public static void main(String[] args) {
    String directory = UtilIO.pathExample("fiducial/binary");
    // load the lens distortion parameters and the input image
    CameraPinholeRadial param = CalibrationIO.load(new File(directory, "intrinsic.yaml"));
    LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(param);
    BufferedImage input = UtilImageIO.loadImage(directory, "image0000.jpg");
    // BufferedImage input = UtilImageIO.loadImage(directory , "image0001.jpg");
    // BufferedImage input = UtilImageIO.loadImage(directory , "image0002.jpg");
    GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));
    // Detect the fiducial
    FiducialDetector<GrayF32> detector = FactoryFiducial.squareBinary(new ConfigFiducialBinary(0.1), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
    // new ConfigFiducialBinary(0.1), ConfigThreshold.fixed(100),GrayF32.class);
    detector.setLensDistortion(lensDistortion, param.width, param.height);
    detector.detect(original);
    // print the results
    Graphics2D g2 = input.createGraphics();
    Se3_F64 targetToSensor = new Se3_F64();
    Point2D_F64 locationPixel = new Point2D_F64();
    Polygon2D_F64 bounds = new Polygon2D_F64();
    for (int i = 0; i < detector.totalFound(); i++) {
        detector.getCenter(i, locationPixel);
        detector.getBounds(i, bounds);
        g2.setColor(new Color(50, 50, 255));
        g2.setStroke(new BasicStroke(10));
        VisualizeShapes.drawPolygon(bounds, true, 1.0, g2);
        if (detector.hasUniqueID())
            System.out.println("Target ID = " + detector.getId(i));
        if (detector.hasMessage())
            System.out.println("Message   = " + detector.getMessage(i));
        System.out.println("2D Image Location = " + locationPixel);
        if (detector.is3D()) {
            detector.getFiducialToCamera(i, targetToSensor);
            System.out.println("3D Location:");
            System.out.println(targetToSensor);
            VisualizeFiducial.drawCube(targetToSensor, param, detector.getWidth(i), 3, g2);
            VisualizeFiducial.drawLabelCenter(targetToSensor, param, "" + detector.getId(i), g2);
        } else {
            VisualizeFiducial.drawLabel(locationPixel, "" + detector.getId(i), g2);
        }
    }
    ShowImages.showWindow(input, "Fiducials", true);
}

Example 57 with CameraPinholeRadial

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

the class ExampleFiducialImage method main.

public static void main(String[] args) {
    String imagePath = UtilIO.pathExample("fiducial/image/examples/");
    String patternPath = UtilIO.pathExample("fiducial/image/patterns/");
    // String imageName = "image00.jpg";
    String imageName = "image01.jpg";
    // String imageName = "image02.jpg";
    // load the lens distortion parameters and the input image
    CameraPinholeRadial param = CalibrationIO.load(new File(imagePath, "intrinsic.yaml"));
    LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(param);
    BufferedImage input = UtilImageIO.loadImage(imagePath, imageName);
    GrayF32 original = ConvertBufferedImage.convertFrom(input, true, ImageType.single(GrayF32.class));
    // Detect the fiducial
    SquareImage_to_FiducialDetector<GrayF32> detector = FactoryFiducial.squareImage(new ConfigFiducialImage(), ConfigThreshold.local(ThresholdType.LOCAL_MEAN, 21), GrayF32.class);
    // new ConfigFiducialImage(), ConfigThreshold.fixed(100), GrayF32.class);
    // give it a description of all the targets
    // 4 cm
    double width = 4;
    detector.addPatternImage(loadImage(patternPath, "ke.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "dog.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "yu.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "yu_inverted.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "pentarose.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "text_boofcv.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "leaf01.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "leaf02.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "hand01.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "chicken.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "h2o.png", GrayF32.class), 100, width);
    detector.addPatternImage(loadImage(patternPath, "yinyang.png", GrayF32.class), 100, width);
    detector.setLensDistortion(lensDistortion, param.width, param.height);
    detector.detect(original);
    // print the results
    Graphics2D g2 = input.createGraphics();
    Se3_F64 targetToSensor = new Se3_F64();
    Point2D_F64 locationPixel = new Point2D_F64();
    Polygon2D_F64 bounds = new Polygon2D_F64();
    for (int i = 0; i < detector.totalFound(); i++) {
        detector.getCenter(i, locationPixel);
        detector.getBounds(i, bounds);
        g2.setColor(new Color(50, 50, 255));
        g2.setStroke(new BasicStroke(10));
        VisualizeShapes.drawPolygon(bounds, true, 1.0, g2);
        if (detector.hasUniqueID())
            System.out.println("Target ID = " + detector.getId(i));
        if (detector.hasMessage())
            System.out.println("Message   = " + detector.getMessage(i));
        System.out.println("2D Image Location = " + locationPixel);
        if (detector.is3D()) {
            detector.getFiducialToCamera(i, targetToSensor);
            System.out.println("3D Location:");
            System.out.println(targetToSensor);
            VisualizeFiducial.drawCube(targetToSensor, param, detector.getWidth(i), 3, g2);
            VisualizeFiducial.drawLabelCenter(targetToSensor, param, "" + detector.getId(i), g2);
        } else {
            VisualizeFiducial.drawLabel(locationPixel, "" + detector.getId(i), g2);
        }
    }
    ShowImages.showWindow(input, "Fiducials", true);
}

Example 58 with CameraPinholeRadial

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

the class ExamplePoseOfCalibrationTarget method main.

public static void main(String[] args) {
    // Load camera calibration
    CameraPinholeRadial intrinsic = CalibrationIO.load(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/intrinsic.yaml"));
    LensDistortionNarrowFOV lensDistortion = new LensDistortionRadialTangential(intrinsic);
    // load the video file
    String fileName = UtilIO.pathExample("tracking/chessboard_SonyDSC_01.mjpeg");
    SimpleImageSequence<GrayF32> video = DefaultMediaManager.INSTANCE.openVideo(fileName, ImageType.single(GrayF32.class));
    // DefaultMediaManager.INSTANCE.openCamera(null, 640, 480, ImageType.single(GrayF32.class));
    // Let's use the FiducialDetector interface since it is much easier than coding up
    // the entire thing ourselves.  Look at FiducialDetector's code if you want to understand how it works.
    CalibrationFiducialDetector<GrayF32> detector = FactoryFiducial.calibChessboard(new ConfigChessboard(4, 5, 0.03), GrayF32.class);
    detector.setLensDistortion(lensDistortion, intrinsic.width, intrinsic.height);
    // Get the 2D coordinate of calibration points for visualization purposes
    List<Point2D_F64> calibPts = detector.getCalibrationPoints();
    // Set up visualization
    PointCloudViewer viewer = new PointCloudViewer(intrinsic, 0.01);
    // make the view more interest.  From the side.
    DMatrixRMaj rotY = ConvertRotation3D_F64.rotY(-Math.PI / 2.0, null);
    viewer.setWorldToCamera(new Se3_F64(rotY, new Vector3D_F64(0.75, 0, 1.25)));
    ImagePanel imagePanel = new ImagePanel(intrinsic.width, intrinsic.height);
    viewer.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
    PanelGridPanel gui = new PanelGridPanel(1, imagePanel, viewer);
    gui.setMaximumSize(gui.getPreferredSize());
    ShowImages.showWindow(gui, "Calibration Target Pose", true);
    // Allows the user to click on the image and pause
    MousePauseHelper pauseHelper = new MousePauseHelper(gui);
    // saves the target's center location
    List<Point3D_F64> path = new ArrayList<>();
    // Process each frame in the video sequence
    Se3_F64 targetToCamera = new Se3_F64();
    while (video.hasNext()) {
        // detect calibration points
        detector.detect(video.next());
        if (detector.totalFound() == 1) {
            detector.getFiducialToCamera(0, targetToCamera);
            // Visualization.  Show a path with green points and the calibration points in black
            viewer.reset();
            Point3D_F64 center = new Point3D_F64();
            SePointOps_F64.transform(targetToCamera, center, center);
            path.add(center);
            for (Point3D_F64 p : path) {
                viewer.addPoint(p.x, p.y, p.z, 0x00FF00);
            }
            for (int j = 0; j < calibPts.size(); j++) {
                Point2D_F64 p = calibPts.get(j);
                Point3D_F64 p3 = new Point3D_F64(p.x, p.y, 0);
                SePointOps_F64.transform(targetToCamera, p3, p3);
                viewer.addPoint(p3.x, p3.y, p3.z, 0);
            }
        }
        imagePanel.setImage((BufferedImage) video.getGuiImage());
        viewer.repaint();
        imagePanel.repaint();
        BoofMiscOps.pause(30);
        while (pauseHelper.isPaused()) {
            BoofMiscOps.pause(30);
        }
    }
}

Example 59 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial 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
    CameraPinholeRadial 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 60 with CameraPinholeRadial

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

the class TestCalibrateMonoPlanar method fullBasic.

/**
 * Give it a fake feature detector and a fairly benign scenario and see if it can correctly
 * estimate the camera parameters.
 */
@Test
public void fullBasic() {
    CalibrateMonoPlanar alg = new CalibrateMonoPlanar(layout);
    alg.configurePinhole(true, 2, true);
    for (int i = 0; i < targetToCamera.size(); i++) {
        alg.addImage(createFakeObservations(i));
    }
    CameraPinholeRadial found = alg.process();
    assertEquals(intrinsic.fx, found.fx, 1e-3);
    assertEquals(intrinsic.fy, found.fy, 1e-3);
    assertEquals(intrinsic.cx, found.cx, 1e-3);
    assertEquals(intrinsic.cy, found.cy, 1e-3);
    assertEquals(intrinsic.skew, found.skew, 1e-3);
    assertEquals(intrinsic.radial[0], found.radial[0], 1e-5);
    assertEquals(intrinsic.radial[1], found.radial[1], 1e-5);
    assertEquals(intrinsic.t1, found.t1, 1e-5);
    assertEquals(intrinsic.t2, found.t2, 1e-5);
    assertEquals(intrinsic.width, found.width, 1e-3);
    assertEquals(intrinsic.height, found.height, 1e-3);
}