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

Example 81 with CameraPinholeRadial

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

the class StereoProcessingBase method setCalibration.

/**
 * Specifies stereo parameters
 *
 * @param stereoParam stereo parameters
 */
public void setCalibration(StereoParameters stereoParam) {
    CameraPinholeRadial left = stereoParam.getLeft();
    CameraPinholeRadial right = stereoParam.getRight();
    // adjust image size
    imageLeftRect.reshape(left.getWidth(), left.getHeight());
    imageRightRect.reshape(right.getWidth(), right.getHeight());
    // compute rectification
    RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
    Se3_F64 leftToRight = stereoParam.getRightToLeft().invert(null);
    // original camera calibration matrices
    DMatrixRMaj K1 = PerspectiveOps.calibrationMatrix(left, (DMatrixRMaj) null);
    DMatrixRMaj K2 = PerspectiveOps.calibrationMatrix(right, (DMatrixRMaj) null);
    rectifyAlg.process(K1, new Se3_F64(), K2, leftToRight);
    // rectification matrix for each image
    rect1 = rectifyAlg.getRect1();
    rect2 = rectifyAlg.getRect2();
    // New calibration and rotation matrix, Both cameras are the same after rectification.
    rectK = rectifyAlg.getCalibrationMatrix();
    rectR = rectifyAlg.getRectifiedRotation();
    FMatrixRMaj rect1_F32 = new FMatrixRMaj(3, 3);
    FMatrixRMaj rect2_F32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(rect1, rect1_F32);
    ConvertMatrixData.convert(rect2, rect2_F32);
    ImageType<T> imageType = imageLeftRect.getImageType();
    distortLeftRect = RectifyImageOps.rectifyImage(stereoParam.left, rect1_F32, BorderType.SKIP, imageType);
    distortRightRect = RectifyImageOps.rectifyImage(stereoParam.right, rect2_F32, BorderType.SKIP, imageType);
    // Compute parameters that are needed when converting to 3D
    baseline = stereoParam.getBaseline();
    fx = rectK.get(0, 0);
    fy = rectK.get(1, 1);
    cx = rectK.get(0, 2);
    cy = rectK.get(1, 2);
}