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

Example 21 with FMatrixRMaj

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

the class ShowRectifyCalibratedApp method addRectified.

private void addRectified(final String name, final DMatrixRMaj rect1, final DMatrixRMaj rect2) {
    // 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);
    // Will rectify the image
    ImageType<Planar<GrayF32>> imageType = ImageType.pl(3, GrayF32.class);
    ImageDistort<Planar<GrayF32>, Planar<GrayF32>> imageDistortLeft = RectifyDistortImageOps.rectifyImage(param.getLeft(), rect1_F32, BorderType.ZERO, imageType);
    // ImageDistort<Planar<GrayF32>, Planar<GrayF32>> imageDistortRight =
    // RectifyDistortImageOps.rectifyImage(param.getRight(), rect2_F32, BorderType.ZERO, imageType);
    // Fill the image with all black
    GImageMiscOps.fill(rectLeft, 0);
    GImageMiscOps.fill(rectRight, 0);
    // Render the rectified image
    imageDistortLeft.apply(distLeft, rectLeft);
    imageDistortLeft.apply(distRight, rectRight);
    // convert for output
    final BufferedImage outLeft = ConvertBufferedImage.convertTo(rectLeft, null, true);
    final BufferedImage outRight = ConvertBufferedImage.convertTo(rectRight, null, true);
    // Add this rectified image
    SwingUtilities.invokeLater(() -> gui.addItem(new RectifiedPairPanel(true, outLeft, outRight), name));
}

Example 22 with FMatrixRMaj

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

the class VisualizeStereoDisparity method rectifyInputImages.

/**
 * Removes distortion and rectifies images.
 */
private void rectifyInputImages() {
    // Check to see if the input images have already been recitified
    rectifiedImages = calib.isRectified(1e-3);
    // get intrinsic camera calibration matrices
    DMatrixRMaj K1 = PerspectiveOps.pinholeToMatrix(calib.left, (DMatrixRMaj) null);
    DMatrixRMaj K2 = PerspectiveOps.pinholeToMatrix(calib.right, (DMatrixRMaj) null);
    // and could add a little bit of noise
    if (rectifiedImages) {
        rectLeft.setTo(inputLeft);
        rectRight.setTo(inputRight);
        leftRectToPixel = new DoNothing2Transform2_F64();
        rectK = K1;
        rectR = CommonOps_DDRM.identity(3);
        return;
    }
    // compute rectification matrices
    rectifyAlg.process(K1, new Se3_F64(), K2, calib.getRightToLeft().invert(null));
    DMatrixRMaj rect1 = rectifyAlg.getUndistToRectPixels1();
    DMatrixRMaj rect2 = rectifyAlg.getUndistToRectPixels2();
    rectK = rectifyAlg.getCalibrationMatrix();
    rectR = rectifyAlg.getRectifiedRotation();
    // adjust view to maximize viewing area while not including black regions
    RectifyImageOps.allInsideLeft(calib.left, rect1, rect2, rectK, null);
    // compute transforms to apply rectify the images
    leftRectToPixel = transformRectToPixel(calib.left, rect1);
    ImageType<T> imageType = activeAlg.getInputType();
    // 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<T, T> distortRect1 = RectifyDistortImageOps.rectifyImage(calib.left, rect1_F32, BorderType.EXTENDED, imageType);
    ImageDistort<T, T> distortRect2 = RectifyDistortImageOps.rectifyImage(calib.right, rect2_F32, BorderType.EXTENDED, imageType);
    // rectify and undo distortion
    distortRect1.apply(inputLeft, rectLeft);
    distortRect2.apply(inputRight, rectRight);
    rectifiedImages = true;
}

Example 23 with FMatrixRMaj

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

the class DisplayPinholeCalibrationPanel method setCalibration.

public void setCalibration(CameraPinholeBrown param, DMatrixRMaj rect) {
    FMatrixRMaj rect_f32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(rect, rect_f32);
    this.undoRadial = RectifyDistortImageOps.rectifyImage(param, rect_f32, BorderType.ZERO, ImageType.single(GrayF32.class));
    this.remove_p_to_p = RectifyImageOps.transformPixelToRect(param, rect_f32);
}

Example 24 with FMatrixRMaj

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

the class LensDistortionOps method transformChangeModel_F32.

/**
 * Creates a {@link Point2Transform2_F32} for converting pixels from original camera model into a new synthetic
 * model.  The scaling of the image can be adjusted to ensure certain visibility requirements.
 *
 * @param type The type of adjustment it will apply to the transform
 * @param paramOriginal Camera model for the current image
 * @param paramDesired Desired camera model for the distorted image
 * @param desiredToOriginal If true then the transform's input is assumed to be pixels in the desired
 *                       image and the output will be in original image, if false then the reverse transform
 *                       is returned.
 * @param paramMod The modified camera model to meet the requested visibility requirements.  Null if you don't want it.
 * @return The requested transform
 */
public static <O extends CameraPinhole, D extends CameraPinhole> Point2Transform2_F32 transformChangeModel_F32(AdjustmentType type, O paramOriginal, D paramDesired, boolean desiredToOriginal, D paramMod) {
    LensDistortionNarrowFOV original = LensDistortionOps.narrow(paramOriginal);
    LensDistortionNarrowFOV desired = LensDistortionOps.narrow(paramDesired);
    Point2Transform2_F32 ori_p_to_n = original.undistort_F32(true, false);
    Point2Transform2_F32 des_n_to_p = desired.distort_F32(false, true);
    Point2Transform2_F32 ori_to_des = new SequencePoint2Transform2_F32(ori_p_to_n, des_n_to_p);
    RectangleLength2D_F32 bound;
    if (type == AdjustmentType.FULL_VIEW) {
        bound = DistortImageOps.boundBox_F32(paramOriginal.width, paramOriginal.height, new PointToPixelTransform_F32(ori_to_des));
    } else if (type == AdjustmentType.EXPAND) {
        bound = LensDistortionOps.boundBoxInside(paramOriginal.width, paramOriginal.height, new PointToPixelTransform_F32(ori_to_des));
        // ensure there are no strips of black
        LensDistortionOps.roundInside(bound);
    } else if (type == AdjustmentType.NONE) {
        bound = new RectangleLength2D_F32(0, 0, paramDesired.width, paramDesired.height);
    } else {
        throw new IllegalArgumentException("Unsupported type " + type);
    }
    float scaleX = bound.width / paramDesired.width;
    float scaleY = bound.height / paramDesired.height;
    float scale;
    if (type == AdjustmentType.FULL_VIEW) {
        scale = Math.max(scaleX, scaleY);
    } else if (type == AdjustmentType.EXPAND) {
        scale = Math.min(scaleX, scaleY);
    } else {
        scale = 1.0f;
    }
    float deltaX = (float) (bound.x0 + (scaleX - scale) * paramDesired.width / 2.0);
    float deltaY = (float) (bound.y0 + (scaleY - scale) * paramDesired.height / 2.0);
    // adjustment matrix
    FMatrixRMaj A = new FMatrixRMaj(3, 3, true, scale, 0, deltaX, 0, scale, deltaY, 0, 0, 1);
    FMatrixRMaj A_inv = new FMatrixRMaj(3, 3);
    if (!CommonOps_FDRM.invert(A, A_inv)) {
        throw new RuntimeException("Failed to invert adjustment matrix.  Probably bad.");
    }
    if (paramMod != null) {
        PerspectiveOps.adjustIntrinsic(paramDesired, A_inv, paramMod);
    }
    if (desiredToOriginal) {
        Point2Transform2_F32 des_p_to_n = desired.undistort_F32(true, false);
        Point2Transform2_F32 ori_n_to_p = original.distort_F32(false, true);
        PointTransformHomography_F32 adjust = new PointTransformHomography_F32(A);
        return new SequencePoint2Transform2_F32(adjust, des_p_to_n, ori_n_to_p);
    } else {
        PointTransformHomography_F32 adjust = new PointTransformHomography_F32(A_inv);
        return new SequencePoint2Transform2_F32(ori_to_des, adjust);
    }
}

Example 25 with FMatrixRMaj

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

the class DisplayPinholeCalibrationPanel method setCalibration.

public void setCalibration(CameraPinholeRadial param, DMatrixRMaj rect) {
    FMatrixRMaj rect_f32 = new FMatrixRMaj(3, 3);
    ConvertMatrixData.convert(rect, rect_f32);
    this.undoRadial = RectifyImageOps.rectifyImage(param, rect_f32, BorderType.ZERO, ImageType.single(GrayF32.class));
    this.remove_p_to_p = RectifyImageOps.transformPixelToRect(param, rect_f32);
}