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

Example 11 with Point2Transform2_F64

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

the class BaseChecksPnP method createObservations.

public List<Point2D3D> createObservations(Se3_F64 worldToCamera, double nominalZ, int total) {
    Se3_F64 cameraToWorld = worldToCamera.invert(null);
    // transform from pixel coordinates to normalized pixel coordinates, which removes lens distortion
    Point2Transform2_F64 pixelToNorm = LensDistortionOps.narrow(intrinsic).undistort_F64(true, false);
    List<Point2D3D> observations = new ArrayList<>();
    Point2D_F64 norm = new Point2D_F64();
    for (int i = 0; i < total; i++) {
        // randomly pixel a point inside the image
        double x = rand.nextDouble() * intrinsic.width;
        double y = rand.nextDouble() * intrinsic.height;
        pixelToNorm.compute(x, y, norm);
        // Randomly pick a depth and compute 3D coordinate
        double Z = rand.nextDouble() + nominalZ;
        double X = norm.x * Z;
        double Y = norm.y * Z;
        // Change the point's reference frame from camera to world
        Point3D_F64 cameraPt = new Point3D_F64(X, Y, Z);
        Point3D_F64 worldPt = new Point3D_F64();
        SePointOps_F64.transform(cameraToWorld, cameraPt, worldPt);
        // Save the perfect noise free observation
        Point2D3D o = new Point2D3D();
        o.getLocation().set(worldPt);
        o.getObservation().set(norm.x, norm.y);
        observations.add(o);
    }
    return observations;
}

Example 12 with Point2Transform2_F64

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

the class TestBaseDetectFiducialSquare method detectWithLensDistortion.

private void detectWithLensDistortion(List<Point2D_F64> expected, DetectCorner detector, CameraPinholeRadial intrinsic) {
    // create a pattern with a corner for orientation and put it into the image
    GrayU8 pattern = createPattern(6 * 20, true);
    GrayU8 image = new GrayU8(width, height);
    ImageMiscOps.fill(image, 255);
    image.subimage(60, 300, 60 + pattern.width, 300 + pattern.height, null).setTo(pattern);
    // place the pattern right next to one of the corners to maximize distortion
    // add lens distortion
    Point2Transform2_F32 distToUndistort = LensDistortionOps.narrow(intrinsic).undistort_F32(true, true);
    Point2Transform2_F64 undistTodist = LensDistortionOps.narrow(intrinsic).distort_F64(true, true);
    InterpolatePixelS interp = FactoryInterpolation.createPixelS(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, GrayU8.class);
    ImageDistort<GrayU8, GrayU8> distorter = FactoryDistort.distortSB(false, interp, GrayU8.class);
    distorter.setModel(new PointToPixelTransform_F32(distToUndistort));
    GrayU8 distorted = new GrayU8(width, height);
    distorter.apply(image, distorted);
    detector.configure(new LensDistortionRadialTangential(intrinsic), width, height, false);
    detector.process(distorted);
    assertEquals(1, detector.getFound().size());
    FoundFiducial ff = detector.getFound().get(0);
    // see if the returned corners
    Point2D_F64 expectedDist = new Point2D_F64();
    for (int j = 0; j < 4; j++) {
        Point2D_F64 f = ff.distortedPixels.get(j);
        Point2D_F64 e = expected.get((j + 1) % 4);
        undistTodist.compute(e.x, e.y, expectedDist);
        assertTrue(f.distance(expectedDist) <= 0.4);
    }
// The check to see if square is correctly undistorted is inside the processing function itself
}

Example 13 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, 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 14 with Point2Transform2_F64

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

the class ExamplePnP method createObservations.

/**
 * Generates synthetic observations randomly in front of the camera.  Observations are in normalized image
 * coordinates and not pixels!  See {@link PerspectiveOps#convertPixelToNorm} for how to go from pixels
 * to normalized image coordinates.
 */
public List<Point2D3D> createObservations(Se3_F64 worldToCamera, int total) {
    Se3_F64 cameraToWorld = worldToCamera.invert(null);
    // transform from pixel coordinates to normalized pixel coordinates, which removes lens distortion
    Point2Transform2_F64 pixelToNorm = LensDistortionOps.narrow(intrinsic).undistort_F64(true, false);
    List<Point2D3D> observations = new ArrayList<>();
    Point2D_F64 norm = new Point2D_F64();
    for (int i = 0; i < total; i++) {
        // randomly pixel a point inside the image
        double x = rand.nextDouble() * intrinsic.width;
        double y = rand.nextDouble() * intrinsic.height;
        pixelToNorm.compute(x, y, norm);
        // Randomly pick a depth and compute 3D coordinate
        double Z = rand.nextDouble() + 4;
        double X = norm.x * Z;
        double Y = norm.y * Z;
        // Change the point's reference frame from camera to world
        Point3D_F64 cameraPt = new Point3D_F64(X, Y, Z);
        Point3D_F64 worldPt = new Point3D_F64();
        SePointOps_F64.transform(cameraToWorld, cameraPt, worldPt);
        // Save the perfect noise free observation
        Point2D3D o = new Point2D3D();
        o.getLocation().set(worldPt);
        o.getObservation().set(norm.x, norm.y);
        observations.add(o);
    }
    return observations;
}

Example 15 with Point2Transform2_F64

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

the class ExampleStereoTwoViewsOneCamera method drawInliers.

/**
 * Draw inliers for debugging purposes.  Need to convert from normalized to pixel coordinates.
 */
public static void drawInliers(BufferedImage left, BufferedImage right, CameraPinholeRadial intrinsic, List<AssociatedPair> normalized) {
    Point2Transform2_F64 n_to_p = LensDistortionOps.narrow(intrinsic).distort_F64(false, true);
    List<AssociatedPair> pixels = new ArrayList<>();
    for (AssociatedPair n : normalized) {
        AssociatedPair p = new AssociatedPair();
        n_to_p.compute(n.p1.x, n.p1.y, p.p1);
        n_to_p.compute(n.p2.x, n.p2.y, p.p2);
        pixels.add(p);
    }
    // display the results
    AssociationPanel panel = new AssociationPanel(20);
    panel.setAssociation(pixels);
    panel.setImages(left, right);
    ShowImages.showWindow(panel, "Inlier Features");
}