Example Stereo Single Camera - Revision history

Peter at 00:55, 3 September 2022

2022-09-03T00:55:12Z

← Older revision		Revision as of 00:55, 3 September 2022
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
Line 279:		Line 279:

	double baseline = motion.getT().norm();		double baseline = motion.getT().norm();
	d2c.configure(baseline, rectifiedK, rectifiedR, ~~new DoNothing2Transform2_F64()~~, disparityMin, disparityRange);		d2c.configure(baseline, rectifiedK, rectifiedR, null, disparityMin, disparityRange);
	d2c.process(disparity, UtilDisparitySwing.wrap(left), cloud);		d2c.process(disparity, UtilDisparitySwing.wrap(left), cloud);

Peter at 20:16, 12 July 2021

2021-07-12T20:16:03Z

← Older revision		Revision as of 20:16, 12 July 2021
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
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	// matched features between the two images		// matched features between the two images
	List<AssociatedPair> matchedFeatures = ~~ExampleFundamentalMatrix~~.computeMatches(origLeft, origRight);		List<AssociatedPair> matchedFeatures = ExampleComputeFundamentalMatrix.computeMatches(origLeft, origRight);

	// convert from pixel coordinates into normalized image coordinates		// convert from pixel coordinates into normalized image coordinates
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	* @param matchedNorm set of matched point features in normalized image coordinates		* @param matchedNorm set of matched point features in normalized image coordinates
	* @param inliers OUTPUT: Set of inlier features from RANSAC		* @param inliers OUTPUT: Set of inlier features from RANSAC
	* @return Found camera motion. Note translation has an arbitrary scale		* @return Found camera motion. Note translation has an arbitrary scale
	*/		*/
	public static Se3_F64 estimateCameraMotion( CameraPinholeBrown intrinsic,		public static Se3_F64 estimateCameraMotion( CameraPinholeBrown intrinsic,
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	DMatrixRMaj rect1 = rectifyAlg.getUndistToRectPixels1();		DMatrixRMaj rect1 = rectifyAlg.getUndistToRectPixels1();
	DMatrixRMaj rect2 = rectifyAlg.getUndistToRectPixels2();		DMatrixRMaj rect2 = rectifyAlg.getUndistToRectPixels2();
	rectifiedR.~~set~~(rectifyAlg.getRectifiedRotation());		rectifiedR.setTo(rectifyAlg.getRectifiedRotation());

	// New calibration matrix,		// New calibration matrix,
	rectifiedK.~~set~~(rectifyAlg.getCalibrationMatrix());		rectifiedK.setTo(rectifyAlg.getCalibrationMatrix());

	// Adjust the rectification to make the view area more useful		// Adjust the rectification to make the view area more useful
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	/**		/**
	* Draw inliers for debugging purposes. Need to convert from normalized to pixel coordinates.		* Draw inliers for debugging purposes. Need to convert from normalized to pixel coordinates.
	*/		*/
	public static void drawInliers( BufferedImage left, BufferedImage right, CameraPinholeBrown intrinsic,		public static void drawInliers( BufferedImage left, BufferedImage right, CameraPinholeBrown intrinsic,

Peter at 02:51, 22 December 2020

2020-12-22T02:51:47Z

Show changes

Peter at 15:39, 22 June 2020

2020-06-22T15:39:07Z

← Older revision		Revision as of 15:39, 22 June 2020
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	* Rectification		* Rectification
	* Dense stereo processing		* Dense stereo processing

			Related Videos:
			* [https://youtu.be/wOXuphyzypc Android Two View Stereo]
			* [https://www.youtube.com/watch?v=8pn9Ebw90uk&t=672s Updates 0.24-0.36]

	Related Tutorials/Example Code:		Related Tutorials/Example Code:

Peter at 05:35, 18 May 2020

2020-05-18T05:35:06Z

← Older revision		Revision as of 05:35, 18 May 2020
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
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	// compute disparity		// compute disparity
	ConfigDisparityBMBest5 config = new ConfigDisparityBMBest5();		ConfigDisparityBMBest5 config = new ConfigDisparityBMBest5();
	config.errorType = DisparityError.~~SAD~~;		config.errorType = DisparityError.CENSUS;
	config.disparityMin = minDisparity;		config.disparityMin = minDisparity;
	config.disparityRange = rangeDisparity;		config.disparityRange = rangeDisparity;
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	config.validateRtoL = 1;		config.validateRtoL = 1;
	config.texture = 0.1;		config.texture = 0.1;
	StereoDisparity<~~GrayS16~~, GrayF32> disparityAlg =		StereoDisparity<GrayU8, GrayF32> disparityAlg =
	FactoryStereoDisparity.blockMatchBest5(config, ~~GrayS16~~.class, GrayF32.class);		FactoryStereoDisparity.blockMatchBest5(config, GrayU8.class, GrayF32.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);~~
	~~GrayS16 derivRight = new GrayS16(rectifiedLeft.width,rectifiedLeft.height);~~
	~~GImageDerivativeOps.laplace(rectifiedLeft, derivLeft,BorderType.EXTENDED);~~
	~~GImageDerivativeOps.laplace(rectifiedRight,derivRight,BorderType.EXTENDED~~);

	// process and return the results		// process and return the results
	disparityAlg.process(~~derivLeft~~, ~~derivRight~~);		disparityAlg.process(rectifiedLeft, rectifiedRight);
	GrayF32 disparity = disparityAlg.getDisparity();		GrayF32 disparity = disparityAlg.getDisparity();
	RectifyImageOps.applyMask(disparity,rectifiedMask,0);		RectifyImageOps.applyMask(disparity,rectifiedMask,0);
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	// rectification matrix for each image		// rectification matrix for each image
	~~DMatrixRMaj rectRot = rectifyAlg.getRectifiedRotation();~~
	DMatrixRMaj rect1 = rectifyAlg.getRect1();		DMatrixRMaj rect1 = rectifyAlg.getRect1();
	DMatrixRMaj rect2 = rectifyAlg.getRect2();		DMatrixRMaj rect2 = rectifyAlg.getRect2();
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	// Adjust the rectification to make the view area more useful		// Adjust the rectification to make the view area more useful
	ImageDimension rectShape = new ImageDimension();		ImageDimension rectShape = new ImageDimension();
	RectifyImageOps.fullViewLeft(intrinsicLeft~~, rectRot~~, rect1, rect2, rectifiedK, rectShape);		RectifyImageOps.fullViewLeft(intrinsicLeft, rect1, rect2, rectifiedK, rectShape);
	// RectifyImageOps.allInsideLeft(intrinsicLeft~~, rectR~~, rect1, rect2, rectifiedK, rectShape);		// RectifyImageOps.allInsideLeft(intrinsicLeft, rect1, rect2, rectifiedK, rectShape);
	// Taking in account the relative rotation between the image axis and the baseline is important in		// Taking in account the relative rotation between the image axis and the baseline is important in
	// this scenario since a person can easily hold the camera at an odd angle. If you don't adjust		// this scenario since a person can easily hold the camera at an odd angle. If you don't adjust
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	public static void showPointCloud(ImageGray disparity, BufferedImage left,		public static void showPointCloud(ImageGray disparity, BufferedImage left,
	Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR,		Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR,
	int ~~minDisparity~~, int ~~rangeDisparity~~)		int disparityMin, int disparityRange)
	{		{
	DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();		DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
			PointCloudWriter.CloudArraysF32 cloud = new PointCloudWriter.CloudArraysF32();

	double baseline = motion.getT().norm();		double baseline = motion.getT().norm();
	d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), ~~minDisparity~~, ~~minDisparity+rangeDisparity~~);		d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), disparityMin, disparityRange);
	d2c.process(disparity,left);		d2c.process(disparity, UtilDisparitySwing.wrap(left), cloud);

	CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK,disparity.width,disparity.height,null);		CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK,disparity.width,disparity.height,null);
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	pcv.setCameraToWorld(cameraToWorld);		pcv.setCameraToWorld(cameraToWorld);
	pcv.setTranslationStep(baseline/3);		pcv.setTranslationStep(baseline/3);
	pcv.addCloud(~~d2c~~.~~getCloud()~~,~~d2c~~.~~getCloudColor()~~);		pcv.addCloud(cloud.cloudXyz,cloud.cloudRgb);
	pcv.setDotSize(1);		pcv.setDotSize(1);
	pcv.setTranslationStep(baseline/10);		pcv.setTranslationStep(baseline/10);

Peter at 01:13, 24 December 2019

2019-12-24T01:13:18Z

← Older revision		Revision as of 01:13, 24 December 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
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	// Disparity calculation parameters		// Disparity calculation parameters
	private static final int minDisparity = 15;		private static final int minDisparity = 15;
	private static final int ~~maxDisparity~~ = ~~100~~;		private static final int rangeDisparity = 85;

	public static void main(String args[]) {		public static void main(String args[]) {
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	// Camera parameters		// Camera parameters
	~~CameraPinholeRadial~~ intrinsic = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));		CameraPinholeBrown intrinsic = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));

	// Input images from the camera moving left to right		// Input images from the camera moving left to right
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	// compute disparity		// compute disparity
			ConfigDisparityBMBest5 config = new ConfigDisparityBMBest5();
			config.errorType = DisparityError.SAD;
			config.disparityMin = minDisparity;
			config.disparityRange = rangeDisparity;
			config.subpixel = true;
			config.regionRadiusX = config.regionRadiusY = 5;
			config.maxPerPixelError = 20;
			config.validateRtoL = 1;
			config.texture = 0.1;
	StereoDisparity<GrayS16, GrayF32> disparityAlg =		StereoDisparity<GrayS16, GrayF32> disparityAlg =
	FactoryStereoDisparity.~~regionSubpixelWta~~(~~DisparityAlgorithms.RECT_FIVE~~,		FactoryStereoDisparity.blockMatchBest5(config, GrayS16.class, GrayF32.class);
	~~minDisparity, maxDisparity, 5, 5, 20, 1, 0~~.1, ~~GrayS16~~.class);

	// Apply the Laplacian across the image to add extra resistance to changes in lighting or camera gain		// 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);		GrayS16 derivLeft = new GrayS16(rectifiedLeft.width,rectifiedLeft.height);
	GrayS16 derivRight = new GrayS16(rectifiedLeft.width,rectifiedLeft.height);		GrayS16 derivRight = new GrayS16(rectifiedLeft.width,rectifiedLeft.height);
	~~LaplacianEdge~~.~~process~~(rectifiedLeft, derivLeft);		GImageDerivativeOps.laplace(rectifiedLeft, derivLeft,BorderType.EXTENDED);
	~~LaplacianEdge~~.~~process~~(rectifiedRight,derivRight);		GImageDerivativeOps.laplace(rectifiedRight,derivRight,BorderType.EXTENDED);

	// process and return the results		// process and return the results
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	// show results		// show results
	BufferedImage visualized = VisualizeImageData.disparity(disparity, null, ~~minDisparity, maxDisparity~~, 0);		BufferedImage visualized = VisualizeImageData.disparity(disparity, null, rangeDisparity, 0);

	BufferedImage outLeft = ConvertBufferedImage.convertTo(rectifiedLeft, null);		BufferedImage outLeft = ConvertBufferedImage.convertTo(rectifiedLeft, null);
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	ShowImages.showWindow(visualized, "Disparity",true);		ShowImages.showWindow(visualized, "Disparity",true);

	showPointCloud(disparity, outLeft, leftToRight, rectifiedK,rectifiedR, minDisparity, ~~maxDisparity~~);		showPointCloud(disparity, outLeft, leftToRight, rectifiedK,rectifiedR, minDisparity, rangeDisparity);

	System.out.println("Total found " + matchedCalibrated.size());		System.out.println("Total found " + matchedCalibrated.size());
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	* @return Found camera motion. Note translation has an arbitrary scale		* @return Found camera motion. Note translation has an arbitrary scale
	*/		*/
	public static Se3_F64 estimateCameraMotion(~~CameraPinholeRadial~~ intrinsic,		public static Se3_F64 estimateCameraMotion(CameraPinholeBrown intrinsic,
	List<AssociatedPair> matchedNorm, List<AssociatedPair> inliers)		List<AssociatedPair> matchedNorm, List<AssociatedPair> inliers)
	{		{
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	* Convert a set of associated point features from pixel coordinates into normalized image coordinates.		* Convert a set of associated point features from pixel coordinates into normalized image coordinates.
	*/		*/
	public static List<AssociatedPair> convertToNormalizedCoordinates(List<AssociatedPair> matchedFeatures, ~~CameraPinholeRadial~~ intrinsic) {		public static List<AssociatedPair> convertToNormalizedCoordinates(List<AssociatedPair> matchedFeatures, CameraPinholeBrown intrinsic) {

	Point2Transform2_F64 p_to_n = LensDistortionFactory.narrow(intrinsic).undistort_F64(true, false);		Point2Transform2_F64 p_to_n = LensDistortionFactory.narrow(intrinsic).undistort_F64(true, false);
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	T distortedRight,		T distortedRight,
	Se3_F64 leftToRight,		Se3_F64 leftToRight,
	~~CameraPinholeRadial~~ intrinsicLeft,		CameraPinholeBrown intrinsicLeft,
	~~CameraPinholeRadial~~ intrinsicRight,		CameraPinholeBrown intrinsicRight,
	T rectifiedLeft,		T rectifiedLeft,
	T rectifiedRight,		T rectifiedRight,
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	// rectification matrix for each image		// rectification matrix for each image
			DMatrixRMaj rectRot = rectifyAlg.getRectifiedRotation();
	DMatrixRMaj rect1 = rectifyAlg.getRect1();		DMatrixRMaj rect1 = rectifyAlg.getRect1();
	DMatrixRMaj rect2 = rectifyAlg.getRect2();		DMatrixRMaj rect2 = rectifyAlg.getRect2();
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	// Adjust the rectification to make the view area more useful		// Adjust the rectification to make the view area more useful
	RectifyImageOps.fullViewLeft(intrinsicLeft, rect1, rect2, rectifiedK);		ImageDimension rectShape = new ImageDimension();
			RectifyImageOps.fullViewLeft(intrinsicLeft, rectRot, rect1, rect2, rectifiedK, rectShape);
			// RectifyImageOps.allInsideLeft(intrinsicLeft, rectR, rect1, rect2, rectifiedK, rectShape);
			// Taking in account the relative rotation between the image axis and the baseline is important in
			// this scenario since a person can easily hold the camera at an odd angle. If you don't adjust
			// the rectified image size you might end up with a lot of wasted pixels and a low resolution model!
			rectifiedLeft.reshape(rectShape.width,rectShape.height);
			rectifiedRight.reshape(rectShape.width,rectShape.height);

	// undistorted and rectify images		// undistorted and rectify images
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	* Draw inliers for debugging purposes. Need to convert from normalized to pixel coordinates.		* Draw inliers for debugging purposes. Need to convert from normalized to pixel coordinates.
	*/		*/
	public static void drawInliers(BufferedImage left, BufferedImage right, ~~CameraPinholeRadial~~ intrinsic,		public static void drawInliers(BufferedImage left, BufferedImage right, CameraPinholeBrown intrinsic,
	List<AssociatedPair> normalized) {		List<AssociatedPair> normalized) {
	Point2Transform2_F64 n_to_p = LensDistortionFactory.narrow(intrinsic).distort_F64(false,true);		Point2Transform2_F64 n_to_p = LensDistortionFactory.narrow(intrinsic).distort_F64(false,true);
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	public static void showPointCloud(ImageGray disparity, BufferedImage left,		public static void showPointCloud(ImageGray disparity, BufferedImage left,
	Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR,		Se3_F64 motion, DMatrixRMaj rectifiedK , DMatrixRMaj rectifiedR,
	int minDisparity, int ~~maxDisparity~~)		int minDisparity, int rangeDisparity)
	{		{
	DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();		DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
	double baseline = motion.getT().norm();		double baseline = motion.getT().norm();
	d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), minDisparity, ~~maxDisparity~~);		d2c.configure(baseline, rectifiedK, rectifiedR, new DoNothing2Transform2_F64(), minDisparity, minDisparity+rangeDisparity);
	d2c.process(disparity,left);		d2c.process(disparity,left);

Peter at 05:14, 27 December 2018

2018-12-27T05:14:26Z

← Older revision		Revision as of 05:14, 27 December 2018
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	</center>		</center>

	A dense point cloud ~~of an environment can be created~~ from ~~a single camera using~~ two views. If the ~~distance~~ between the two views is ~~not known, then~~ the scale ~~of the found point cloud will be arbitrary~~. In this example natural features are used to determine the geometric relationship between the two views. The algorithm can be summarized as follows:		In this scenario we wish to compute a dense point cloud from two views taken with the same calibrated camera. Because the intrinsic parameters are known, it is easier to converge towards a valid solution than the entirely [[Example_Stereo_Uncalibrated\|uncalibrated scenario]].

			Because the extrinsic parameters (translation and rotation) between the two views is unknown the scene's structure can only be recovered up to a scale factor. In this example natural features are used to determine the geometric relationship between the two views. The algorithm can be summarized as follows:

	* Load camera calibration and two images		* Load camera calibration and two images
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	Related Tutorials/Example Code:		Related Tutorials/Example Code:
			* [[Example_Stereo_Uncalibrated\| Stereo Uncalibrated]]
			* [[Example_Three_View_Stereo_Uncalibrated\| Three View Stereo Uncalibrated]]
	* [[Example_Stereo_Disparity\| Stereo Disparity Example]]		* [[Example_Stereo_Disparity\| Stereo Disparity Example]]
	* [[Example_Rectification_Calibrated\| Calibrated Stereo Rectification Example]]		* [[Example_Rectification_Calibrated\| Calibrated Stereo Rectification Example]]

Peter at 04:10, 27 December 2018

2018-12-27T04:10:09Z

Show changes

Peter at 03:14, 17 October 2018

2018-10-17T03:14:09Z

← Older revision		Revision as of 03:14, 17 October 2018
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
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	BufferedImage outRight = ConvertBufferedImage.convertTo(rectifiedRight, null);		BufferedImage outRight = ConvertBufferedImage.convertTo(rectifiedRight, null);

	ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification");		ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification",true);
	ShowImages.showWindow(visualized, "Disparity");		ShowImages.showWindow(visualized, "Disparity",true);

	showPointCloud(disparity, outLeft, leftToRight, rectifiedK, minDisparity, maxDisparity);		showPointCloud(disparity, outLeft, leftToRight, rectifiedK, minDisparity, maxDisparity);
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	List<AssociatedPair> matchedNorm, List<AssociatedPair> inliers)		List<AssociatedPair> matchedNorm, List<AssociatedPair> inliers)
	{		{
	~~ModelMatcher~~<Se3_F64, AssociatedPair> epipolarMotion =		RansacMultiView<Se3_F64, AssociatedPair> epipolarMotion =
	FactoryMultiViewRobust.~~essentialRansac~~(new ConfigEssential(~~intrinsic~~),new ConfigRansac(200,0.5));		FactoryMultiViewRobust.baselineRansac(new ConfigEssential(),new ConfigRansac(200,0.5));
			epipolarMotion.setIntrinsic(0,intrinsic);
			epipolarMotion.setIntrinsic(1,intrinsic);

	if (!epipolarMotion.process(matchedNorm))		if (!epipolarMotion.process(matchedNorm))
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	// original camera calibration matrices		// original camera calibration matrices
	DMatrixRMaj K = PerspectiveOps.~~calibrationMatrix~~(intrinsic, (DMatrixRMaj)null);		DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(intrinsic, (DMatrixRMaj)null);

	rectifyAlg.process(K, new Se3_F64(), K, leftToRight);		rectifyAlg.process(K, new Se3_F64(), K, leftToRight);
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	panel.setImages(left, right);		panel.setImages(left, right);

	ShowImages.showWindow(panel, "Inlier Features");		ShowImages.showWindow(panel, "Inlier Features", true);
	}		}

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	public static void showPointCloud(ImageGray disparity, BufferedImage left,		public static void showPointCloud(ImageGray disparity, BufferedImage left,
	Se3_F64 motion, DMatrixRMaj rectifiedK ,		Se3_F64 motion, DMatrixRMaj rectifiedK ,
	int minDisparity, int maxDisparity) {		int minDisparity, int maxDisparity)
	~~PointCloudTiltPanel gui~~ = new ~~PointCloudTiltPanel~~();		{
			DisparityToColorPointCloud d2c = new DisparityToColorPointCloud();
			double baseline = motion.getT().norm();
			d2c.configure(baseline, rectifiedK, new DoNothing2Transform2_F64(), minDisparity, maxDisparity);
			d2c.process(disparity,left);

			CameraPinhole rectifiedPinhole = PerspectiveOps.matrixToPinhole(rectifiedK,disparity.width,disparity.height,null);

	~~double baseline~~ = ~~motion~~.~~getT~~().~~norm(~~);		// skew the view to make the structure easier to see
			Se3_F64 cameraToWorld = SpecialEuclideanOps_F64.eulerXyz(-20,0,0,0,0.2,0,null);

	~~gui~~.~~configure~~(~~baseline, rectifiedK, new DoNothing2Transform2_F64~~()~~, minDisparity, maxDisparity~~);		PointCloudViewer pcv = VisualizeData.createPointCloudViewer();
	~~gui~~.~~process~~(~~disparity, left~~);		pcv.setCameraHFov(PerspectiveOps.computeHFov(rectifiedPinhole));
	~~gui~~.~~setPreferredSize~~(~~new Dimension~~(~~left~~.~~getWidth~~(), ~~left~~.~~getHeight~~()));		pcv.setCameraToWorld(cameraToWorld);
			pcv.setTranslationStep(5);
			pcv.addCloud(d2c.getCloud(),d2c.getCloudColor());

	ShowImages.showWindow(~~gui~~, "Point Cloud");		pcv.getComponent().setPreferredSize(new Dimension(left.getWidth(), left.getHeight()));
			ShowImages.showWindow(pcv.getComponent(), "Point Cloud", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 16:19, 17 August 2017

2017-08-17T16:19:05Z

← Older revision		Revision as of 16:19, 17 August 2017
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/stereo/ExampleStereoTwoViewsOneCamera.java ExampleStereoTwoViewsOneCamera.java]

	Concepts:		Concepts:
Line 82:		Line 82:

	// Rectify and remove lens distortion for stereo processing		// Rectify and remove lens distortion for stereo processing
	~~DenseMatrix64F~~ rectifiedK = new ~~DenseMatrix64F~~(3, 3);		DMatrixRMaj rectifiedK = new DMatrixRMaj(3, 3);
	GrayU8 rectifiedLeft = distortedLeft.createSameShape();		GrayU8 rectifiedLeft = distortedLeft.createSameShape();
	GrayU8 rectifiedRight = distortedRight.createSameShape();		GrayU8 rectifiedRight = distortedRight.createSameShape();
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	public static List<AssociatedPair> convertToNormalizedCoordinates(List<AssociatedPair> matchedFeatures, CameraPinholeRadial intrinsic) {		public static List<AssociatedPair> convertToNormalizedCoordinates(List<AssociatedPair> matchedFeatures, CameraPinholeRadial intrinsic) {

	Point2Transform2_F64 p_to_n = LensDistortionOps.~~transformPoint~~(intrinsic).undistort_F64(true, false);		Point2Transform2_F64 p_to_n = LensDistortionOps.narrow(intrinsic).undistort_F64(true, false);

	List<AssociatedPair> calibratedFeatures = new ArrayList<>();		List<AssociatedPair> calibratedFeatures = new ArrayList<>();
Line 179:		Line 179:
	GrayU8 rectifiedLeft,		GrayU8 rectifiedLeft,
	GrayU8 rectifiedRight,		GrayU8 rectifiedRight,
	~~DenseMatrix64F~~ rectifiedK) {		DMatrixRMaj rectifiedK) {
	RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();		RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();

	// original camera calibration matrices		// original camera calibration matrices
	~~DenseMatrix64F~~ K = PerspectiveOps.calibrationMatrix(intrinsic, null);		DMatrixRMaj K = PerspectiveOps.calibrationMatrix(intrinsic, (DMatrixRMaj)null);

	rectifyAlg.process(K, new Se3_F64(), K, leftToRight);		rectifyAlg.process(K, new Se3_F64(), K, leftToRight);

	// rectification matrix for each image		// rectification matrix for each image
	~~DenseMatrix64F~~ rect1 = rectifyAlg.getRect1();		DMatrixRMaj rect1 = rectifyAlg.getRect1();
	~~DenseMatrix64F~~ rect2 = rectifyAlg.getRect2();		DMatrixRMaj rect2 = rectifyAlg.getRect2();

	// New calibration matrix,		// New calibration matrix,
Line 198:		Line 198:

	// undistorted and rectify images		// 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 =		ImageDistort<GrayU8,GrayU8> distortLeft =
	RectifyImageOps.rectifyImage(intrinsic, ~~rect1~~, BorderType.SKIP, distortedLeft.getImageType());		RectifyImageOps.rectifyImage(intrinsic, rect1_F32, BorderType.SKIP, distortedLeft.getImageType());
	ImageDistort<GrayU8,GrayU8> distortRight =		ImageDistort<GrayU8,GrayU8> distortRight =
	RectifyImageOps.rectifyImage(intrinsic, ~~rect2~~, BorderType.SKIP, distortedRight.getImageType());		RectifyImageOps.rectifyImage(intrinsic, rect2_F32, BorderType.SKIP, distortedRight.getImageType());

	distortLeft.apply(distortedLeft, rectifiedLeft);		distortLeft.apply(distortedLeft, rectifiedLeft);
Line 212:		Line 217:
	public static void drawInliers(BufferedImage left, BufferedImage right, CameraPinholeRadial intrinsic,		public static void drawInliers(BufferedImage left, BufferedImage right, CameraPinholeRadial intrinsic,
	List<AssociatedPair> normalized) {		List<AssociatedPair> normalized) {
	Point2Transform2_F64 n_to_p = LensDistortionOps.~~transformPoint~~(intrinsic).distort_F64(false,true);		Point2Transform2_F64 n_to_p = LensDistortionOps.narrow(intrinsic).distort_F64(false,true);

	List<AssociatedPair> pixels = new ArrayList<>();		List<AssociatedPair> pixels = new ArrayList<>();
Line 237:		Line 242:
	*/		*/
	public static void showPointCloud(ImageGray disparity, BufferedImage left,		public static void showPointCloud(ImageGray disparity, BufferedImage left,
	Se3_F64 motion, ~~DenseMatrix64F~~ rectifiedK ,		Se3_F64 motion, DMatrixRMaj rectifiedK ,
	int minDisparity, int maxDisparity) {		int minDisparity, int maxDisparity) {
	PointCloudTiltPanel gui = new PointCloudTiltPanel();		PointCloudTiltPanel gui = new PointCloudTiltPanel();