Examples with FMatrixRMaj org.ejml.data.FMatrixRMaj used on opensource projects

Example 6 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj in project BoofCV by lessthanoptimal.

the class TestAddRadialPtoN_F32 method againstManual.

public void againstManual(float t1, float t2) {
    float fx = 600;
    float fy = 500;
    float skew = 2;
    float xc = 300;
    float yc = 350;
    /**/
    double[] radial = new /**/
    double[] { 0.01, -0.03 };
    // undistorted pixel coordinates
    Point2D_F32 orig = new Point2D_F32(19.5f, 400.1f);
    Point2D_F32 normPt = new Point2D_F32();
    FMatrixRMaj K = new FMatrixRMaj(3, 3, true, fx, skew, xc, 0, fy, yc, 0, 0, 1);
    FMatrixRMaj K_inv = new FMatrixRMaj(3, 3);
    CommonOps_FDRM.invert(K, K_inv);
    // compute normalized image coordinate
    GeometryMath_F32.mult(K_inv, orig, normPt);
    // undistorted normalized image coordinates
    float nx = normPt.x;
    float ny = normPt.y;
    float r2 = nx * nx + ny * ny;
    float ri2 = 1;
    float sum = 0;
    for (int i = 0; i < radial.length; i++) {
        ri2 *= r2;
        sum += radial[i] * ri2;
    }
    // distorted normalized image coordinates
    float dnx = nx + nx * sum + 2 * t1 * nx * ny + t2 * (r2 + 2 * nx * nx);
    float dny = ny + ny * sum + t1 * (r2 + 2 * ny * ny) + 2 * t2 * nx * ny;
    AddRadialPtoN_F32 alg = new AddRadialPtoN_F32().setK(fx, fy, skew, xc, yc).setDistortion(radial, t1, t2);
    Point2D_F32 found = new Point2D_F32();
    alg.compute(orig.x, orig.y, found);
    assertEquals(dnx, found.x, 1e-4);
    assertEquals(dny, found.y, 1e-4);
}

Example 7 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj in project BoofCV by lessthanoptimal.

the class RectifyImageOps method rectifyImage.

/**
 * Creates an {@link ImageDistort} for rectifying an image given its rectification matrix.
 * Lens distortion is assumed to have been previously removed.
 *
 * @param rectify Transform for rectifying the image.
 * @param imageType Type of single band image the transform is to be applied to.
 * @return ImageDistort for rectifying the image.
 */
public static <T extends ImageGray<T>> ImageDistort<T, T> rectifyImage(FMatrixRMaj rectify, BorderType borderType, Class<T> imageType) {
    boolean skip = borderType == BorderType.SKIP;
    if (skip) {
        borderType = BorderType.EXTENDED;
    }
    InterpolatePixelS<T> interp = FactoryInterpolation.bilinearPixelS(imageType, borderType);
    FMatrixRMaj rectifyInv = new FMatrixRMaj(3, 3);
    CommonOps_FDRM.invert(rectify, rectifyInv);
    PointTransformHomography_F32 rectifyTran = new PointTransformHomography_F32(rectifyInv);
    // don't bother caching the results since it is likely to only be applied once and is cheap to compute
    ImageDistort<T, T> ret = FactoryDistort.distortSB(false, interp, imageType);
    ret.setRenderAll(!skip);
    ret.setModel(new PointToPixelTransform_F32(rectifyTran));
    return ret;
}

Example 8 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj in project BoofCV by lessthanoptimal.

the class ExampleRectifyUncalibratedStereo method rectify.

/**
 * Rectifies the image using the provided fundamental matrix.  Both the fundamental matrix
 * and set of inliers need to be accurate.  Small errors will cause large distortions.
 *
 * @param F Fundamental matrix
 * @param inliers Set of associated pairs between the two images.
 * @param origLeft Original input image.  Used for output purposes.
 * @param origRight Original input image.  Used for output purposes.
 */
public static void rectify(DMatrixRMaj F, List<AssociatedPair> inliers, BufferedImage origLeft, BufferedImage origRight) {
    // Unrectified images
    Planar<GrayF32> unrectLeft = ConvertBufferedImage.convertFromPlanar(origLeft, null, true, GrayF32.class);
    Planar<GrayF32> unrectRight = ConvertBufferedImage.convertFromPlanar(origRight, null, true, GrayF32.class);
    // storage for rectified images
    Planar<GrayF32> rectLeft = unrectLeft.createSameShape();
    Planar<GrayF32> rectRight = unrectRight.createSameShape();
    // Compute rectification
    RectifyFundamental rectifyAlg = RectifyImageOps.createUncalibrated();
    rectifyAlg.process(F, inliers, origLeft.getWidth(), origLeft.getHeight());
    // rectification matrix for each image
    DMatrixRMaj rect1 = rectifyAlg.getRect1();
    DMatrixRMaj rect2 = rectifyAlg.getRect2();
    // Adjust the rectification to make the view area more useful
    RectifyImageOps.fullViewLeft(origLeft.getWidth(), origLeft.getHeight(), rect1, rect2);
    // RectifyImageOps.allInsideLeft(origLeft.getWidth(),origLeft.getHeight(), rect1, rect2 );
    // undistorted and rectify images
    // TODO simplify code some how
    FMatrixRMaj rect1_F32 = new FMatrixRMaj(3, 3);
    FMatrixRMaj rect2_F32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(rect1, rect1_F32);
    ConvertMatrixData.convert(rect2, rect2_F32);
    ImageDistort<GrayF32, GrayF32> imageDistortLeft = RectifyImageOps.rectifyImage(rect1_F32, BorderType.SKIP, GrayF32.class);
    ImageDistort<GrayF32, GrayF32> imageDistortRight = RectifyImageOps.rectifyImage(rect2_F32, BorderType.SKIP, GrayF32.class);
    DistortImageOps.distortPL(unrectLeft, rectLeft, imageDistortLeft);
    DistortImageOps.distortPL(unrectRight, rectRight, imageDistortRight);
    // convert for output
    BufferedImage outLeft = ConvertBufferedImage.convertTo(rectLeft, null, true);
    BufferedImage outRight = ConvertBufferedImage.convertTo(rectRight, null, true);
    // show results and draw a horizontal line where the user clicks to see rectification easier
    // Don't worry if the image appears upside down
    ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectified");
}

Example 9 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj in project BoofCV by lessthanoptimal.

the class ExampleStereoTwoViewsOneCamera method rectifyImages.

/**
 * Remove lens distortion and rectify stereo images
 *
 * @param distortedLeft  Input distorted image from left camera.
 * @param distortedRight Input distorted image from right camera.
 * @param leftToRight    Camera motion from left to right
 * @param intrinsic      Intrinsic camera parameters
 * @param rectifiedLeft  Output rectified image for left camera.
 * @param rectifiedRight Output rectified image for right camera.
 * @param rectifiedK     Output camera calibration matrix for rectified camera
 */
public static void rectifyImages(GrayU8 distortedLeft, GrayU8 distortedRight, Se3_F64 leftToRight, CameraPinholeRadial intrinsic, GrayU8 rectifiedLeft, GrayU8 rectifiedRight, DMatrixRMaj rectifiedK) {
    RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
    // original camera calibration matrices
    DMatrixRMaj K = PerspectiveOps.calibrationMatrix(intrinsic, (DMatrixRMaj) null);
    rectifyAlg.process(K, new Se3_F64(), K, leftToRight);
    // rectification matrix for each image
    DMatrixRMaj rect1 = rectifyAlg.getRect1();
    DMatrixRMaj rect2 = rectifyAlg.getRect2();
    // New calibration matrix,
    rectifiedK.set(rectifyAlg.getCalibrationMatrix());
    // Adjust the rectification to make the view area more useful
    RectifyImageOps.allInsideLeft(intrinsic, rect1, rect2, rectifiedK);
    // undistorted and rectify images
    FMatrixRMaj rect1_F32 = new FMatrixRMaj(3, 3);
    FMatrixRMaj rect2_F32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(rect1, rect1_F32);
    ConvertMatrixData.convert(rect2, rect2_F32);
    ImageDistort<GrayU8, GrayU8> distortLeft = RectifyImageOps.rectifyImage(intrinsic, rect1_F32, BorderType.SKIP, distortedLeft.getImageType());
    ImageDistort<GrayU8, GrayU8> distortRight = RectifyImageOps.rectifyImage(intrinsic, rect2_F32, BorderType.SKIP, distortedRight.getImageType());
    distortLeft.apply(distortedLeft, rectifiedLeft);
    distortRight.apply(distortedRight, rectifiedRight);
}

Example 10 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj in project BoofCV by lessthanoptimal.

the class TestBaseDetectFiducialSquare method render.

/**
 * Draws a distorted pattern onto the output
 */
public static void render(GrayU8 pattern, Quadrilateral_F64 where, GrayU8 output) {
    int w = pattern.width;
    int h = pattern.height;
    ArrayList<AssociatedPair> associatedPairs = new ArrayList<>();
    associatedPairs.add(new AssociatedPair(where.a, new Point2D_F64(0, 0)));
    associatedPairs.add(new AssociatedPair(where.b, new Point2D_F64(w, 0)));
    associatedPairs.add(new AssociatedPair(where.c, new Point2D_F64(w, h)));
    associatedPairs.add(new AssociatedPair(where.d, new Point2D_F64(0, h)));
    Estimate1ofEpipolar computeHomography = FactoryMultiView.computeHomographyDLT(true);
    DMatrixRMaj H = new DMatrixRMaj(3, 3);
    computeHomography.process(associatedPairs, H);
    // Create the transform for distorting the image
    FMatrixRMaj H32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(H, H32);
    PointTransformHomography_F32 homography = new PointTransformHomography_F32(H32);
    PixelTransform2_F32 pixelTransform = new PointToPixelTransform_F32(homography);
    // Apply distortion and show the results
    DistortImageOps.distortSingle(pattern, output, pixelTransform, InterpolationType.BILINEAR, BorderType.SKIP);
// ShowImages.showWindow(output, "Rendered");
// try {Thread.sleep(10000);} catch (InterruptedException e) {}
}