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

Example 41 with CameraPinholeRadial

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

the class GenericPlanarCalibrationDetectorChecks method renderEasy.

protected GrayF32 renderEasy(Object layout, List<Point2D_F64> locations2D) {
    CameraPinholeRadial model = CalibrationIO.load(getClass().getResource("pinhole_radial.yaml"));
    if (locations2D == null)
        locations2D = new ArrayList<>();
    GrayF32 pattern = new GrayF32(1, 1);
    renderTarget(layout, simulatedTargetWidth, pattern, locations2D);
    SimulatePlanarWorld simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    Se3_F64 markerToWorld = new Se3_F64();
    markerToWorld.T.set(0, 0, 0.5);
    simulator.addTarget(markerToWorld, simulatedTargetWidth, pattern);
    simulator.render();
    return simulator.getOutput();
}

Example 42 with CameraPinholeRadial

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

the class CalibratePinholePlanarGuiApp method process.

public void process(String outputFileName) {
    calibrator.reset();
    final ProcessThread monitor = new ProcessThread();
    monitor.start();
    for (int i = 0; i < images.size(); i++) {
        final File file = new File(images.get(i));
        final BufferedImage orig = media.openImage(images.get(i));
        if (orig != null) {
            GrayF32 input = ConvertBufferedImage.convertFrom(orig, (GrayF32) null);
            if (detector.process(input)) {
                calibrator.addImage(detector.getDetectedPoints());
                SwingUtilities.invokeLater(() -> {
                    gui.addImage(file);
                    gui.repaint();
                    monitor.setMessage(0, file.getName());
                });
            } else {
                System.out.println("Failed to detect image.  " + file.getName());
            }
        } else {
            System.out.println("Failed to load " + images.get(i));
        }
    }
    SwingUtilities.invokeLater(() -> gui.setObservations(calibrator.getObservations()));
    gui.repaint();
    SwingUtilities.invokeLater(() -> monitor.setMessage(1, "Estimating Parameters"));
    final CameraPinholeRadial param = calibrator.process();
    SwingUtilities.invokeLater(() -> {
        gui.setResults(calibrator.getErrors());
        gui.setCalibration(calibrator.getZhangParam());
    });
    monitor.stopThread();
    if (outputFileName != null)
        CalibrationIO.save(param, outputFileName);
    // tell it how to undistort the image
    SwingUtilities.invokeLater(() -> {
        gui.setCorrection(param);
        gui.repaint();
    });
    // print the output
    calibrator.printStatistics();
    System.out.println();
    System.out.println("--- Intrinsic Parameters ---");
    System.out.println();
    param.print();
}

Example 43 with CameraPinholeRadial

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

the class RemoveLensDistortionApp method openFile.

@Override
public void openFile(File file) {
    File[] candidates = new File[] { new File(file.getParent(), "intrinsic.yaml"), // this is a bit of a hack...
    new File(file.getParent(), "intrinsicLeft.yaml"), new File(file.getParent(), file.getName() + ".yaml") };
    CameraPinholeRadial model = null;
    for (File c : candidates) {
        if (c.exists()) {
            model = CalibrationIO.load(c);
            break;
        }
    }
    if (model == null) {
        System.err.println("Can't find camera model for this image");
        return;
    }
    this.param = model;
    super.openFile(file);
}

Example 44 with CameraPinholeRadial

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

the class VisualizeSquareFiducial method process.

public void process(String nameImage, String nameIntrinsic) {
    CameraPinholeRadial intrinsic = nameIntrinsic == null ? null : (CameraPinholeRadial) CalibrationIO.load(nameIntrinsic);
    GrayF32 input = UtilImageIO.loadImage(nameImage, GrayF32.class);
    GrayF32 undistorted = new GrayF32(input.width, input.height);
    Detector detector = new Detector();
    if (intrinsic != null) {
        CameraPinholeRadial paramUndist = new CameraPinholeRadial();
        ImageDistort<GrayF32, GrayF32> undistorter = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.EXTENDED, intrinsic, new CameraPinhole(intrinsic), paramUndist, ImageType.single(GrayF32.class));
        detector.configure(new LensDistortionRadialTangential(paramUndist), paramUndist.width, paramUndist.height, false);
        undistorter.apply(input, undistorted);
    } else {
        undistorted.setTo(input);
    }
    detector.process(undistorted);
    System.out.println("Total Found: " + detector.squares.size());
    FastQueue<FoundFiducial> fiducials = detector.getFound();
    int N = Math.min(20, detector.squares.size());
    ListDisplayPanel squares = new ListDisplayPanel();
    for (int i = 0; i < N; i++) {
        squares.addImage(ConvertBufferedImage.convertTo(detector.squares.get(i), null), " " + i);
    }
    BufferedImage output = new BufferedImage(input.width, input.height, BufferedImage.TYPE_INT_RGB);
    VisualizeBinaryData.renderBinary(detector.getBinary(), false, output);
    Graphics2D g2 = output.createGraphics();
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    g2.setColor(Color.RED);
    g2.setStroke(new BasicStroke(2));
    if (intrinsic != null) {
        Point2Transform2_F64 add_p_to_p = LensDistortionOps.narrow(intrinsic).distort_F64(true, true);
        for (int i = 0; i < N; i++) {
            // add back in lens distortion
            Quadrilateral_F64 q = fiducials.get(i).distortedPixels;
            apply(add_p_to_p, q.a, q.a);
            apply(add_p_to_p, q.b, q.b);
            apply(add_p_to_p, q.c, q.c);
            apply(add_p_to_p, q.d, q.d);
            VisualizeShapes.draw(q, g2);
        }
    }
    BufferedImage outputGray = new BufferedImage(input.width, input.height, BufferedImage.TYPE_INT_RGB);
    ConvertBufferedImage.convertTo(undistorted, outputGray);
    g2 = outputGray.createGraphics();
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    for (int i = 0; i < N; i++) {
        // add back in lens distortion
        Quadrilateral_F64 q = fiducials.get(i).distortedPixels;
        // g2.setStroke(new BasicStroke(2));
        // VisualizeBinaryData.render(detector.getSquareDetector().getUsedContours(),Color.BLUE,outputGray);
        VisualizeShapes.drawArrowSubPixel(q, 3, 1, g2);
    }
    ShowImages.showWindow(output, "Binary");
    ShowImages.showWindow(outputGray, "Gray");
    ShowImages.showWindow(squares, "Candidates");
}

Example 45 with CameraPinholeRadial

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

the class ExampleStereoTwoViewsOneCamera method main.

public static void main(String[] args) {
    // specify location of images and calibration
    String calibDir = UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/");
    String imageDir = UtilIO.pathExample("stereo/");
    // Camera parameters
    CameraPinholeRadial intrinsic = CalibrationIO.load(new File(calibDir, "intrinsic.yaml"));
    // Input images from the camera moving left to right
    BufferedImage origLeft = UtilImageIO.loadImage(imageDir, "mono_wall_01.jpg");
    BufferedImage origRight = UtilImageIO.loadImage(imageDir, "mono_wall_02.jpg");
    // Input images with lens distortion
    GrayU8 distortedLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8) null);
    GrayU8 distortedRight = ConvertBufferedImage.convertFrom(origRight, (GrayU8) null);
    // matched features between the two images
    List<AssociatedPair> matchedFeatures = ExampleFundamentalMatrix.computeMatches(origLeft, origRight);
    // convert from pixel coordinates into normalized image coordinates
    List<AssociatedPair> matchedCalibrated = convertToNormalizedCoordinates(matchedFeatures, intrinsic);
    // Robustly estimate camera motion
    List<AssociatedPair> inliers = new ArrayList<>();
    Se3_F64 leftToRight = estimateCameraMotion(intrinsic, matchedCalibrated, inliers);
    drawInliers(origLeft, origRight, intrinsic, inliers);
    // Rectify and remove lens distortion for stereo processing
    DMatrixRMaj rectifiedK = new DMatrixRMaj(3, 3);
    GrayU8 rectifiedLeft = distortedLeft.createSameShape();
    GrayU8 rectifiedRight = distortedRight.createSameShape();
    rectifyImages(distortedLeft, distortedRight, leftToRight, intrinsic, rectifiedLeft, rectifiedRight, rectifiedK);
    // compute disparity
    StereoDisparity<GrayS16, GrayF32> disparityAlg = FactoryStereoDisparity.regionSubpixelWta(DisparityAlgorithms.RECT_FIVE, minDisparity, maxDisparity, 5, 5, 20, 1, 0.1, GrayS16.class);
    // Apply the Laplacian across the image to add extra resistance to changes in lighting or camera gain
    GrayS16 derivLeft = new GrayS16(rectifiedLeft.width, rectifiedLeft.height);
    GrayS16 derivRight = new GrayS16(rectifiedLeft.width, rectifiedLeft.height);
    LaplacianEdge.process(rectifiedLeft, derivLeft);
    LaplacianEdge.process(rectifiedRight, derivRight);
    // process and return the results
    disparityAlg.process(derivLeft, derivRight);
    GrayF32 disparity = disparityAlg.getDisparity();
    // show results
    BufferedImage visualized = VisualizeImageData.disparity(disparity, null, minDisparity, maxDisparity, 0);
    BufferedImage outLeft = ConvertBufferedImage.convertTo(rectifiedLeft, null);
    BufferedImage outRight = ConvertBufferedImage.convertTo(rectifiedRight, null);
    ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification");
    ShowImages.showWindow(visualized, "Disparity");
    showPointCloud(disparity, outLeft, leftToRight, rectifiedK, minDisparity, maxDisparity);
    System.out.println("Total found " + matchedCalibrated.size());
    System.out.println("Total Inliers " + inliers.size());
}