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

Example 6 with StereoParameters

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

the class ExampleStereoDisparity3D method main.

public static void main(String[] args) {
    // ------------- Compute Stereo Correspondence
    // Load camera images and stereo camera parameters
    String calibDir = UtilIO.pathExample("calibration/stereo/Bumblebee2_Chess/");
    String imageDir = UtilIO.pathExample("stereo/");
    StereoParameters param = CalibrationIO.load(new File(calibDir, "stereo.yaml"));
    // load and convert images into a BoofCV format
    BufferedImage origLeft = UtilImageIO.loadImage(imageDir, "chair01_left.jpg");
    BufferedImage origRight = UtilImageIO.loadImage(imageDir, "chair01_right.jpg");
    GrayU8 distLeft = ConvertBufferedImage.convertFrom(origLeft, (GrayU8) null);
    GrayU8 distRight = ConvertBufferedImage.convertFrom(origRight, (GrayU8) null);
    // re-scale input images
    GrayU8 scaledLeft = new GrayU8((int) (distLeft.width * scale), (int) (distLeft.height * scale));
    GrayU8 scaledRight = new GrayU8((int) (distRight.width * scale), (int) (distRight.height * scale));
    new FDistort(distLeft, scaledLeft).scaleExt().apply();
    new FDistort(distRight, scaledRight).scaleExt().apply();
    // Don't forget to adjust camera parameters for the change in scale!
    PerspectiveOps.scaleIntrinsic(param.left, scale);
    PerspectiveOps.scaleIntrinsic(param.right, scale);
    // rectify images and compute disparity
    GrayU8 rectLeft = new GrayU8(scaledLeft.width, scaledLeft.height);
    GrayU8 rectRight = new GrayU8(scaledRight.width, scaledRight.height);
    RectifyCalibrated rectAlg = ExampleStereoDisparity.rectify(scaledLeft, scaledRight, param, rectLeft, rectRight);
    // GrayU8 disparity = ExampleStereoDisparity.denseDisparity(rectLeft, rectRight, 3,minDisparity, maxDisparity);
    GrayF32 disparity = ExampleStereoDisparity.denseDisparitySubpixel(rectLeft, rectRight, 3, minDisparity, maxDisparity);
    // ------------- Convert disparity image into a 3D point cloud
    // The point cloud will be in the left cameras reference frame
    DMatrixRMaj rectK = rectAlg.getCalibrationMatrix();
    DMatrixRMaj rectR = rectAlg.getRectifiedRotation();
    // used to display the point cloud
    PointCloudViewer viewer = new PointCloudViewer(rectK, 10);
    viewer.setPreferredSize(new Dimension(rectLeft.width, rectLeft.height));
    // extract intrinsic parameters from rectified camera
    double baseline = param.getBaseline();
    double fx = rectK.get(0, 0);
    double fy = rectK.get(1, 1);
    double cx = rectK.get(0, 2);
    double cy = rectK.get(1, 2);
    // Iterate through each pixel in disparity image and compute its 3D coordinate
    Point3D_F64 pointRect = new Point3D_F64();
    Point3D_F64 pointLeft = new Point3D_F64();
    for (int y = 0; y < disparity.height; y++) {
        for (int x = 0; x < disparity.width; x++) {
            double d = disparity.unsafe_get(x, y) + minDisparity;
            // skip over pixels were no correspondence was found
            if (d >= rangeDisparity)
                continue;
            // Coordinate in rectified camera frame
            pointRect.z = baseline * fx / d;
            pointRect.x = pointRect.z * (x - cx) / fx;
            pointRect.y = pointRect.z * (y - cy) / fy;
            // rotate into the original left camera frame
            GeometryMath_F64.multTran(rectR, pointRect, pointLeft);
            // add pixel to the view for display purposes and sets its gray scale value
            int v = rectLeft.unsafe_get(x, y);
            viewer.addPoint(pointLeft.x, pointLeft.y, pointLeft.z, v << 16 | v << 8 | v);
        }
    }
    // display the results.  Click and drag to change point cloud camera
    BufferedImage visualized = VisualizeImageData.disparity(disparity, null, minDisparity, maxDisparity, 0);
    ShowImages.showWindow(visualized, "Disparity");
    ShowImages.showWindow(viewer, "Point Cloud");
}

Example 7 with StereoParameters

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

the class ExampleOverheadView method main.

public static void main(String[] args) {
    BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));
    Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null, true, GrayU8.class);
    StereoParameters stereoParam = CalibrationIO.load(UtilIO.pathExample("road/stereo01.yaml"));
    Se3_F64 groundToLeft = CalibrationIO.load(UtilIO.pathExample("road/ground_to_left_01.yaml"));
    CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead = new CreateSyntheticOverheadViewPL<>(InterpolationType.BILINEAR, 3, GrayU8.class);
    // size of cells in the overhead image in world units
    double cellSize = 0.05;
    // You can use this to automatically select reasonable values for the overhead image
    SelectOverheadParameters selectMapSize = new SelectOverheadParameters(cellSize, 20, 0.5);
    selectMapSize.process(stereoParam.left, groundToLeft);
    int overheadWidth = selectMapSize.getOverheadWidth();
    int overheadHeight = selectMapSize.getOverheadHeight();
    Planar<GrayU8> overheadRGB = new Planar<>(GrayU8.class, overheadWidth, overheadHeight, 3);
    generateOverhead.configure(stereoParam.left, groundToLeft, selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize, overheadRGB.width, overheadRGB.height);
    generateOverhead.process(imageRGB, overheadRGB);
    // note that the left/right values are swapped in the overhead image.  This is an artifact of the plane's
    // 2D coordinate system having +y pointing up, while images have +y pointing down.
    BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB, null, true);
    ShowImages.showWindow(input, "Input Image", true);
    ShowImages.showWindow(output, "Overhead Image", true);
}

Example 8 with StereoParameters

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

the class ExampleCalibrateStereo method process.

/**
 * Process calibration images, compute intrinsic parameters, save to a file
 */
public void process() {
    // Declare and setup the calibration algorithm
    CalibrateStereoPlanar calibratorAlg = new CalibrateStereoPlanar(detector.getLayout());
    calibratorAlg.configure(true, 2, false);
    // ensure the lists are in the same order
    Collections.sort(left);
    Collections.sort(right);
    for (int i = 0; i < left.size(); i++) {
        BufferedImage l = UtilImageIO.loadImage(left.get(i));
        BufferedImage r = UtilImageIO.loadImage(right.get(i));
        GrayF32 imageLeft = ConvertBufferedImage.convertFrom(l, (GrayF32) null);
        GrayF32 imageRight = ConvertBufferedImage.convertFrom(r, (GrayF32) null);
        CalibrationObservation calibLeft, calibRight;
        if (!detector.process(imageLeft)) {
            System.out.println("Failed to detect target in " + left.get(i));
            continue;
        }
        calibLeft = detector.getDetectedPoints();
        if (!detector.process(imageRight)) {
            System.out.println("Failed to detect target in " + right.get(i));
            continue;
        }
        calibRight = detector.getDetectedPoints();
        calibratorAlg.addPair(calibLeft, calibRight);
    }
    // Process and compute calibration parameters
    StereoParameters stereoCalib = calibratorAlg.process();
    // print out information on its accuracy and errors
    calibratorAlg.printStatistics();
    // save results to a file and print out
    CalibrationIO.save(stereoCalib, "stereo.yaml");
    stereoCalib.print();
// Note that the stereo baseline translation will be specified in the same units as the calibration grid.
// Which is in millimeters (mm) in this example.
}

Example 9 with StereoParameters

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

the class TestAssociateStereo2D method setup.

@Before
public void setup() {
    leftToRight = new Se3_F64();
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.01, -0.001, 0.005, leftToRight.getR());
    leftToRight.getT().set(-0.1, 0, 0);
    param = new StereoParameters();
    param.rightToLeft = leftToRight.invert(null);
    param.left = new CameraPinholeRadial(400, 500, 0.1, 160, 120, 320, 240).fsetRadial(0, 0);
    param.right = new CameraPinholeRadial(380, 505, 0.05, 165, 115, 320, 240).fsetRadial(0, 0);
    descLeft = new FastQueue<TupleDesc_F64>(TupleDesc_F64.class, true) {

        @Override
        protected TupleDesc_F64 createInstance() {
            return new TupleDesc_F64(10);
        }
    };
    descRight = new FastQueue<TupleDesc_F64>(TupleDesc_F64.class, true) {

        @Override
        protected TupleDesc_F64 createInstance() {
            return new TupleDesc_F64(10);
        }
    };
    pointsLeft.reset();
    pointsRight.reset();
}

Example 10 with StereoParameters

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

the class TestStereoConsistencyCheck method checkRectification.

@Test
public void checkRectification() {
    Se3_F64 leftToRight = new Se3_F64();
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.01, -0.001, 0.005, leftToRight.getR());
    leftToRight.getT().set(-0.1, 0, 0);
    StereoParameters param = new StereoParameters();
    param.rightToLeft = leftToRight.invert(null);
    param.left = new CameraPinholeRadial(400, 500, 0.1, 160, 120, 320, 240).fsetRadial(0, 0);
    param.right = new CameraPinholeRadial(380, 505, 0.05, 165, 115, 320, 240).fsetRadial(0, 0);
    Point3D_F64 X = new Point3D_F64(0.02, -0.5, 3);
    Point2D_F64 leftP = new Point2D_F64();
    Point2D_F64 rightP = new Point2D_F64();
    SfmTestHelper.renderPointPixel(param, X, leftP, rightP);
    StereoConsistencyCheck alg = new StereoConsistencyCheck(1, 2);
    alg.setCalibration(param);
    alg.checkPixel(leftP, rightP);
    assertEquals(alg.rectLeft.y, alg.rectRight.y, 1e-5);
    assertTrue(alg.rectLeft.x > alg.rectRight.x);
}