Examples with Point2Transform2_F64 boofcv.struct.distort.Point2Transform2_F64 used on opensource projects

Example 51 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class TestLensDistortionOps_F64 method transformChangeModel_FULLVIEW_modified.

/**
 * Checks to see if the returned modified model is correct
 */
@Test
void transformChangeModel_FULLVIEW_modified() {
    // distorted pixel in original image
    double pixelX = 12.5, pixelY = height - 3;
    CameraPinholeBrown orig = new CameraPinholeBrown().fsetK(300, 320, 0, 150, 130, width, height).fsetRadial(0.1, 0.05);
    CameraPinhole desired = new CameraPinhole(orig);
    Point2Transform2_F64 distToNorm = LensDistortionFactory.narrow(orig).undistort_F64(true, false);
    Point2D_F64 norm = new Point2D_F64();
    distToNorm.compute(pixelX, pixelY, norm);
    CameraPinholeBrown adjusted = new CameraPinholeBrown();
    Point2Transform2_F64 distToAdj = LensDistortionOps_F64.transformChangeModel(AdjustmentType.FULL_VIEW, orig, desired, false, adjusted);
    Point2D_F64 adjPixel = new Point2D_F64();
    Point2D_F64 normFound = new Point2D_F64();
    distToAdj.compute(pixelX, pixelY, adjPixel);
    PerspectiveOps.convertPixelToNorm(adjusted, adjPixel, normFound);
    // see if the normalized image coordinates are the same
    assertEquals(norm.x, normFound.x, 1e-3);
    assertEquals(norm.y, normFound.y, 1e-3);
}

Example 52 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class TestLensDistortionOps_F64 method transformChangeModel_FULLVIEW.

/**
 * Checks the border of the returned transform. Makes sure that the entire original image is visible.
 * Also makes sure that the requested inverse transform is actually the inverse.
 */
@Test
void transformChangeModel_FULLVIEW() {
    CameraPinholeBrown param = new CameraPinholeBrown().fsetK(300, 320, 0, 150, 130, width, height).fsetRadial(0.1, 0.05);
    CameraPinhole desired = new CameraPinhole(param);
    Point2Transform2_F64 adjToDist = LensDistortionOps_F64.transformChangeModel(AdjustmentType.FULL_VIEW, param, desired, true, null);
    Point2Transform2_F64 distToAdj = LensDistortionOps_F64.transformChangeModel(AdjustmentType.FULL_VIEW, param, desired, false, null);
    checkBorderOutside(adjToDist, distToAdj);
    param = new CameraPinholeBrown().fsetK(300, 320, 0, 150, 130, width, height).fsetRadial(-0.1, -0.05);
    desired = new CameraPinhole(param);
    adjToDist = LensDistortionOps_F64.transformChangeModel(AdjustmentType.FULL_VIEW, param, desired, true, null);
    distToAdj = LensDistortionOps_F64.transformChangeModel(AdjustmentType.FULL_VIEW, param, desired, false, null);
    checkBorderOutside(adjToDist, distToAdj);
}

Example 53 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class TestLensDistortionOps_F64 method transformChangeModel_NONE_modified.

@Test
void transformChangeModel_NONE_modified() {
    // distorted pixel in original image
    double pixelX = 12.5, pixelY = height - 3;
    CameraPinholeBrown orig = new CameraPinholeBrown().fsetK(300, 320, 0, 150, 130, width, height).fsetRadial(0.1, 0.05);
    CameraPinhole desired = new CameraPinhole(orig);
    Point2Transform2_F64 distToNorm = LensDistortionFactory.narrow(orig).undistort_F64(true, false);
    Point2D_F64 norm = new Point2D_F64();
    distToNorm.compute(pixelX, pixelY, norm);
    CameraPinhole adjusted = new CameraPinhole();
    Point2Transform2_F64 distToAdj = LensDistortionOps_F64.transformChangeModel(AdjustmentType.NONE, orig, desired, false, adjusted);
    Point2D_F64 adjPixel = new Point2D_F64();
    Point2D_F64 normFound = new Point2D_F64();
    distToAdj.compute(pixelX, pixelY, adjPixel);
    PerspectiveOps.convertPixelToNorm(adjusted, adjPixel, normFound);
    // see if the normalized image coordinates are the same
    assertEquals(norm.x, normFound.x, 1e-3);
    assertEquals(norm.y, normFound.y, 1e-3);
}

Example 54 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class VisualizeSquareFiducial method process.

public void process(String nameImage, @Nullable String nameIntrinsic) {
    CameraPinholeBrown intrinsic = nameIntrinsic == null ? null : (CameraPinholeBrown) CalibrationIO.load(nameIntrinsic);
    GrayF32 input = Objects.requireNonNull(UtilImageIO.loadImage(nameImage, GrayF32.class));
    GrayF32 undistorted = new GrayF32(input.width, input.height);
    Detector detector = new Detector();
    if (intrinsic != null) {
        var paramUndist = new CameraPinholeBrown();
        ImageDistort<GrayF32, GrayF32> undistorter = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.EXTENDED, intrinsic, new CameraPinhole(intrinsic), paramUndist, ImageType.single(GrayF32.class));
        detector.configure(new LensDistortionBrown(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());
    DogArray<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 = LensDistortionFactory.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 55 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method transformPixelToRect.

public static Point2Transform2_F64 transformPixelToRect(CameraPinholeBrown param, DMatrixRMaj rectify) {
    Point2Transform2_F64 remove_p_to_p = narrow(param).undistort_F64(true, true);
    PointTransformHomography_F64 rectifyDistort = new PointTransformHomography_F64(rectify);
    return new SequencePoint2Transform2_F64(remove_p_to_p, rectifyDistort);
}