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

Example 36 with CameraPinholeRadial

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

the class BatchRemoveLensDistortion method main.

public static void main(String[] args) {
    String inputPath, regex, pathIntrinsic, outputDir;
    AdjustmentType adjustmentType = AdjustmentType.FULL_VIEW;
    boolean rename = false;
    if (args.length >= 4) {
        int numFlags = args.length - 4;
        for (int i = 0; i < numFlags; i++) {
            if (args[i].compareToIgnoreCase("-rename") == 0) {
                rename = true;
            } else if (args[i].compareToIgnoreCase("-EXPAND") == 0) {
                adjustmentType = AdjustmentType.EXPAND;
            } else if (args[i].compareToIgnoreCase("-FULL_VIEW") == 0) {
                adjustmentType = AdjustmentType.FULL_VIEW;
            } else {
                System.err.println("Unknown flag " + args[i]);
            }
        }
        inputPath = args[numFlags];
        regex = args[numFlags + 1];
        pathIntrinsic = args[numFlags + 2];
        outputDir = args[numFlags + 3];
    } else {
        printHelpAndExit(args);
        System.exit(0);
        return;
    }
    System.out.println("AdjustmentType = " + adjustmentType);
    System.out.println("rename         = " + rename);
    System.out.println("input path     = " + inputPath);
    System.out.println("name regex     = " + regex);
    System.out.println("output dir     = " + outputDir);
    File fileOutputDir = new File(outputDir);
    if (!fileOutputDir.exists()) {
        if (!fileOutputDir.mkdirs()) {
            throw new RuntimeException("Output directory did not exist and failed to create it");
        } else {
            System.out.println("  created output directory");
        }
    }
    CameraPinholeRadial param = CalibrationIO.load(pathIntrinsic);
    CameraPinholeRadial paramAdj = new CameraPinholeRadial();
    List<File> files = Arrays.asList(UtilIO.findMatches(new File(inputPath), regex));
    Collections.sort(files);
    System.out.println("Found a total of " + files.size() + " matching files");
    Planar<GrayF32> distoredImg = new Planar<>(GrayF32.class, param.width, param.height, 3);
    Planar<GrayF32> undistoredImg = new Planar<>(GrayF32.class, param.width, param.height, 3);
    ImageDistort distort = LensDistortionOps.changeCameraModel(adjustmentType, BorderType.ZERO, param, new CameraPinhole(param), paramAdj, (ImageType) distoredImg.getImageType());
    CalibrationIO.save(paramAdj, new File(outputDir, "intrinsicUndistorted.yaml").getAbsolutePath());
    BufferedImage out = new BufferedImage(param.width, param.height, BufferedImage.TYPE_INT_RGB);
    int numDigits = BoofMiscOps.numDigits(files.size() - 1);
    String format = "%0" + numDigits + "d";
    for (int i = 0; i < files.size(); i++) {
        File file = files.get(i);
        System.out.println("processing " + file.getName());
        BufferedImage orig = UtilImageIO.loadImage(file.getAbsolutePath());
        if (orig == null) {
            throw new RuntimeException("Can't load file: " + file.getAbsolutePath());
        }
        if (orig.getWidth() != param.width || orig.getHeight() != param.height) {
            System.err.println("intrinsic parameters and image size do not match!");
            System.exit(-1);
        }
        ConvertBufferedImage.convertFromPlanar(orig, distoredImg, true, GrayF32.class);
        distort.apply(distoredImg, undistoredImg);
        ConvertBufferedImage.convertTo(undistoredImg, out, true);
        String nameOut;
        if (rename) {
            nameOut = String.format("image" + format + ".png", i);
        } else {
            nameOut = file.getName().split("\\.")[0] + "_undistorted.png";
        }
        UtilImageIO.saveImage(out, new File(outputDir, nameOut).getAbsolutePath());
    }
}

Example 37 with CameraPinholeRadial

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

the class FiducialDetection method process.

private void process() {
    if (detector == null) {
        System.err.println("Need to specify which fiducial you wish to detect");
        System.exit(1);
    }
    if (outputPath != null) {
        try {
            outputFile = new PrintStream(outputPath);
            outputFile.println("# Results from fiducial detection ");
            outputFile.println("# These comments should include the data source and the algorithm used, but I'm busy.");
            outputFile.println("# ");
            outputFile.println("# <frame #> <number of fiducials> <fiducial id> <X> <Y> <Z> <Q1> <Q2> <Q3> <Q4> ...");
            outputFile.println("# ");
            outputFile.println("# The special Euclidean transform saved each fiducial is from fiducial to camera");
            outputFile.println("# (X,Y,Z) is the translation and (Q1,Q2,Q3,Q4) specifies a quaternion");
            outputFile.println("# ");
        } catch (FileNotFoundException e) {
            System.err.println("Failed to open output file.");
            System.err.println(e.getMessage());
            System.exit(1);
        }
    }
    MediaManager media = DefaultMediaManager.INSTANCE;
    CameraPinholeRadial intrinsic = intrinsicPath == null ? null : (CameraPinholeRadial) CalibrationIO.load(intrinsicPath);
    SimpleImageSequence<GrayU8> sequence = null;
    long pause = 0;
    BufferedImage buffered = null;
    if (inputType == InputType.VIDEO || inputType == InputType.WEBCAM) {
        if (inputType == InputType.WEBCAM) {
            String device = getCameraDeviceString();
            sequence = media.openCamera(device, desiredWidth, desiredHeight, ImageType.single(GrayU8.class));
        } else {
            // just assume 30ms is appropriate.  Should let the use specify this number
            pause = 30;
            sequence = media.openVideo(filePath, ImageType.single(GrayU8.class));
            sequence.setLoop(true);
        }
        intrinsic = handleIntrinsic(intrinsic, sequence.getNextWidth(), sequence.getNextHeight());
    } else {
        buffered = UtilImageIO.loadImage(filePath);
        if (buffered == null) {
            System.err.println("Can't find image or it can't be read.  " + filePath);
            System.exit(1);
        }
        intrinsic = handleIntrinsic(intrinsic, buffered.getWidth(), buffered.getHeight());
    }
    ImagePanel gui = new ImagePanel();
    gui.setPreferredSize(new Dimension(intrinsic.width, intrinsic.height));
    ShowImages.showWindow(gui, "Fiducial Detector", true);
    detector.setLensDistortion(new LensDistortionRadialTangential(intrinsic), intrinsic.width, intrinsic.height);
    if (sequence != null) {
        processStream(intrinsic, sequence, gui, pause);
    } else {
        processImage(intrinsic, buffered, gui);
    }
}

Example 38 with CameraPinholeRadial

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

the class TestBaseDetectFiducialSquare method lensRemoval.

/**
 * Ensure that lens distortion is being removed from the fiducial square.  All check to make sure the class
 * updates everything when init is called again with a different model.
 */
@Test
public void lensRemoval() {
    List<Point2D_F64> expected = new ArrayList<>();
    expected.add(new Point2D_F64(60, 300 + 120));
    expected.add(new Point2D_F64(60, 300));
    expected.add(new Point2D_F64(60 + 120, 300));
    expected.add(new Point2D_F64(60 + 120, 300 + 120));
    DetectCorner detector = new DetectCorner();
    CameraPinholeRadial intrinsic = new CameraPinholeRadial(500, 500, 0, 320, 240, width, height).fsetRadial(-0.1, -0.05);
    detectWithLensDistortion(expected, detector, intrinsic);
    intrinsic = new CameraPinholeRadial(500, 500, 0, 320, 240, width, height).fsetRadial(0.1, 0.05);
    detectWithLensDistortion(expected, detector, intrinsic);
}

Example 39 with CameraPinholeRadial

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

the class GenericQrCodeDetectorChecks method multipleMarkers.

/**
 * See if it can detect multiple markers in the image at the same time
 */
@Test
public void multipleMarkers() {
    QrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeRadial model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    SimulatePlanarWorld simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    Se3_F64 markerToWorld0 = new Se3_F64();
    Se3_F64 markerToWorld1 = new Se3_F64();
    simulator.addTarget(markerToWorld0, simulatedTargetWidth, generateMarker());
    simulator.addTarget(markerToWorld1, simulatedTargetWidth, generateMarker());
    markerToWorld0.T.set(0.2, 0, 0.6);
    markerToWorld1.T.set(-0.2, 0, 0.6);
    simulator.render();
    detector.process(simulator.getOutput());
    if (display) {
        ShowImages.showWindow(simulator.getOutput(), "Foo", true);
        BoofMiscOps.sleep(10000);
    }
    List<QrCode> detections = detector.getDetections();
    assertEquals(2, detections.size());
}

Example 40 with CameraPinholeRadial

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

the class GenericQrCodeDetectorChecks method scale.

/**
 * The marker zooming in and out of the frame
 */
@Test
public void scale() {
    QrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeRadial model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    SimulatePlanarWorld simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    Se3_F64 markerToWorld = new Se3_F64();
    simulator.addTarget(markerToWorld, simulatedTargetWidth, generateMarker());
    markerToWorld.T.set(0, 0, 0.3);
    for (int i = 0; i < 30; i++) {
        renderAndCheck(detector, simulator);
        markerToWorld.T.z += 0.03;
    }
}