Examples with DoNothing2Transform2_F64 boofcv.struct.distort.DoNothing2Transform2_F64 used on opensource projects

Example 1 with DoNothing2Transform2_F64

use of boofcv.struct.distort.DoNothing2Transform2_F64 in project narchy by automenta.

the class ExampleStereoTwoViewsOneCamera method update.

protected boolean update(BufferedImage inLeft) {
    // ShowImages.showGrid(2, "source", prev, next);
    // matched features between the two images
    computeMatches(prev, next);
    // convert from pixel coordinates into normalized image coordinates
    convertToNormalizedCoordinates(matchedFeatures, intrinsic);
    // Robustly estimate camera motion
    Se3_F64 leftToRight = estimateCameraMotion(intrinsic);
    if (leftToRight == null)
        // no motion
        return false;
    drawInliers(intrinsic, inliers);
    // Rectify and remove lens distortion for stereo processing
    DMatrixRMaj rectifiedK = new DMatrixRMaj(3, 3);
    GrayU8 rectifiedLeft = distortedPrev.createSameShape();
    GrayU8 rectifiedRight = distortedNext.createSameShape();
    rectifyImages(distortedPrev, distortedNext, leftToRight, intrinsic, rectifiedLeft, rectifiedRight, rectifiedK);
    // compute disparity
    StereoDisparity<GrayS16, GrayF32> disparityAlg = FactoryStereoDisparity.regionSubpixelWta(DisparityAlgorithms.RECT_FIVE, minDisparity, maxDisparity, 3, 3, 0, 15, 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);
    LaplacianEdge.process(rectifiedLeft, derivLeft);
    GrayS16 derivRight = new GrayS16(rectifiedRight.width, rectifiedRight.height);
    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);
    ShowImages.showWindow(visualized, "Disparity");
    // BufferedImage outLeft = ConvertBufferedImage.convertTo(rectifiedLeft, null);
    // BufferedImage outRight = ConvertBufferedImage.convertTo(rectifiedRight, null);
    // ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification");
    double baseline = leftToRight.getT().norm();
    gui.configure(baseline, rectifiedK, new DoNothing2Transform2_F64(), minDisparity, maxDisparity);
    gui.process(leftToRight, disparity, inLeft);
    return true;
}

Example 2 with DoNothing2Transform2_F64

use of boofcv.struct.distort.DoNothing2Transform2_F64 in project BoofCV by lessthanoptimal.

the class QrPose3DUtils method setLensDistortion.

/**
 * Specifies transform from pixel to normalize image coordinates
 */
public void setLensDistortion(@Nullable Point2Transform2_F64 pixelToNorm, @Nullable Point2Transform2_F64 undistToDist) {
    if (pixelToNorm == null || undistToDist == null) {
        this.pixelToNorm = new DoNothing2Transform2_F64();
        this.undistToDist = new DoNothing2Transform2_F64();
    } else {
        this.pixelToNorm = pixelToNorm;
        this.undistToDist = undistToDist;
    }
}

Example 3 with DoNothing2Transform2_F64

use of boofcv.struct.distort.DoNothing2Transform2_F64 in project BoofCV by lessthanoptimal.

the class MicroQrPose3DUtils method setLensDistortion.

/**
 * Specifies transform from pixel to normalize image coordinates
 */
public void setLensDistortion(@Nullable Point2Transform2_F64 pixelToNorm, @Nullable Point2Transform2_F64 undistToDist) {
    if (pixelToNorm == null || undistToDist == null) {
        this.pixelToNorm = new DoNothing2Transform2_F64();
        this.undistToDist = new DoNothing2Transform2_F64();
    } else {
        this.pixelToNorm = pixelToNorm;
        this.undistToDist = undistToDist;
    }
}

Example 4 with DoNothing2Transform2_F64

use of boofcv.struct.distort.DoNothing2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ExampleStereoTwoViewsOneCamera method showPointCloud.

/**
 * Show results as a point cloud
 */
public static void showPointCloud(ImageGray disparity, BufferedImage left, Se3_F64 motion, DMatrixRMaj rectifiedK, DMatrixRMaj rectifiedR, int disparityMin, int disparityRange) {
    DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
    PointCloudWriter.CloudArraysF32 cloud = new PointCloudWriter.CloudArraysF32();
    double baseline = motion.getT().norm();
    d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), disparityMin, disparityRange);
    d2c.process(disparity, UtilDisparitySwing.wrap(left), cloud);
    CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK, disparity.width, disparity.height, null);
    // skew the view to make the structure easier to see
    Se3_F64 cameraToWorld = SpecialEuclideanOps_F64.eulerXyz(-baseline * 5, 0, 0, 0, 0.2, 0, null);
    PointCloudViewer pcv = VisualizeData.createPointCloudViewer();
    pcv.setCameraHFov(PerspectiveOps.computeHFov(rectifiedPinhole));
    pcv.setCameraToWorld(cameraToWorld);
    pcv.setTranslationStep(baseline / 3);
    pcv.addCloud(cloud.cloudXyz, cloud.cloudRgb);
    pcv.setDotSize(1);
    pcv.setTranslationStep(baseline / 10);
    pcv.getComponent().setPreferredSize(new Dimension(left.getWidth(), left.getHeight()));
    ShowImages.showWindow(pcv.getComponent(), "Point Cloud", true);
}

Example 5 with DoNothing2Transform2_F64

use of boofcv.struct.distort.DoNothing2Transform2_F64 in project BoofCV by lessthanoptimal.

the class TestDisparityToColorPointCloud method doesItCrash.

/**
 * Simple test to see if it crashes. Very little validation of results is done
 */
@Test
void doesItCrash() {
    double baseline = 1.0;
    DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(500.0, 500, 0, 250, 250);
    DMatrixRMaj rectifiedR = CommonOps_DDRM.identity(3);
    Point2Transform2_F64 rectifiedToColor = new DoNothing2Transform2_F64();
    int disparityMin = 2;
    int disparityRange = 100;
    var alg = new DisparityToColorPointCloud();
    alg.configure(baseline, K, rectifiedR, rectifiedToColor, disparityMin, disparityRange);
    var disparity = new GrayF32(width, height);
    var color = new DisparityToColorPointCloud.ColorImage() {

        @Override
        public boolean isInBounds(int x, int y) {
            return true;
        }

        @Override
        public int getRGB(int x, int y) {
            return 0xFF00FF;
        }
    };
    var output = new DogArray<>(Point3dRgbI_F64::new);
    alg.process(disparity, color, PointCloudWriter.wrapF64RGB(output));
    assertEquals(width * height, output.size);
    for (int i = 0; i < output.size; i++) {
        assertEquals(0xFF00FF, output.get(i).rgb);
    }
}