Difference between revisions of "Example Equirectangular To Pinhole"

From BoofCV
Jump to navigationJump to search
m
m
 
(5 intermediate revisions by the same user not shown)
Line 9: Line 9:
Equirectangular images encode a full 360 view inside a rectangular image.  This creates a highly distorted view, which can be visually displeasing and can't be processed directly by computer vision algorithms.  Part of the view can be rendered inside a synthetic pinhole camera.  The synthetic view could then be feed to fiducial detection algorithms, SFM, ... etc.  This example shows to generate the synthetic pinhole camera view at an arbtirary orientation and intrinsic parameters.
Equirectangular images encode a full 360 view inside a rectangular image.  This creates a highly distorted view, which can be visually displeasing and can't be processed directly by computer vision algorithms.  Part of the view can be rendered inside a synthetic pinhole camera.  The synthetic view could then be feed to fiducial detection algorithms, SFM, ... etc.  This example shows to generate the synthetic pinhole camera view at an arbtirary orientation and intrinsic parameters.


Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]
Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]


Concepts:
Concepts:
Line 30: Line 30:
  */
  */
public class ExampleEquirectangularToPinhole {
public class ExampleEquirectangularToPinhole {
public static void main(String[] args) {
public static void main( String[] args ) {


// Specify what the pinhole camera should look like
// Specify what the pinhole camera should look like
CameraPinhole pinholeModel = new CameraPinhole(250,250,0,250,250,500,500);
CameraPinhole pinholeModel = new CameraPinhole(200, 200, 0, 250, 250, 500, 500);


// Load equirectangular RGB image
// Load equirectangular RGB image
BufferedImage bufferedEqui =
BufferedImage bufferedEqui =
UtilImageIO.loadImage(UtilIO.pathExample("spherical/equirectangular_half_dome_01.jpg"));
UtilImageIO.loadImageNotNull(UtilIO.pathExample("spherical/equirectangular_half_dome_01.jpg"));
Planar<GrayU8> equiImage =
Planar<GrayU8> equiImage =
ConvertBufferedImage.convertFrom(bufferedEqui, true, ImageType.pl(3,GrayU8.class));
ConvertBufferedImage.convertFrom(bufferedEqui, true, ImageType.pl(3, GrayU8.class));


// Declare storage for pinhole camera image
// Declare storage for pinhole camera image
Line 46: Line 46:
// Create the image distorter which will render the image
// Create the image distorter which will render the image
InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.
InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.
createPixel(0, 255, InterpolateType.BILINEAR, BorderType.EXTENDED, equiImage.getImageType());
createPixel(0, 255, InterpolationType.BILINEAR, BorderType.EXTENDED, equiImage.getImageType());
ImageDistort<Planar<GrayU8>,Planar<GrayU8>> distorter =
ImageDistort<Planar<GrayU8>, Planar<GrayU8>> distorter =
FactoryDistort.distort(false,interp,equiImage.getImageType());
FactoryDistort.distort(false, interp, equiImage.getImageType());


// This is where the magic is done. It defines the transform rfom equirectangular to pinhole
// This is where the magic is done. It defines the transform rfom equirectangular to pinhole
EquirectangularToPinhole_F32 equiToPinhole = new EquirectangularToPinhole_F32();
CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
equiToPinhole.setEquirectangularShape(equiImage.width,equiImage.height);
pinholeToEqui.setEquirectangularShape(equiImage.width, equiImage.height);
equiToPinhole.setPinhole(pinholeModel);
pinholeToEqui.setCameraModel(pinholeModel);


// Pass in the transform to the image distorter
// Pass in the transform to the image distorter
distorter.setModel(equiToPinhole);
distorter.setModel(pinholeToEqui);


// change the orientation of the camera to make the view better
// change the orientation of the camera to make the view better
ConvertRotation3D_F64.eulerToMatrix(EulerType.YXZ,0, 1.45, 2.2,equiToPinhole.getRotation());
ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.45f, 2.2f, pinholeToEqui.getRotation());


// Render the image
// Render the image
distorter.apply(equiImage,pinholeImage);
distorter.apply(equiImage, pinholeImage);
BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage,null,true);
BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage, null, true);


// Let's look at another view
// Let's look at another view
ConvertRotation3D_F64.eulerToMatrix(EulerType.YXZ,0, 1.25, -1.25,equiToPinhole.getRotation());
ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.25f, -1.25f, pinholeToEqui.getRotation());


distorter.apply(equiImage,pinholeImage);
distorter.apply(equiImage, pinholeImage);
BufferedImage bufferedPinhole1 = ConvertBufferedImage.convertTo(pinholeImage,null,true);
BufferedImage bufferedPinhole1 = ConvertBufferedImage.convertTo(pinholeImage, null, true);


// Display the results
// Display the results
ListDisplayPanel panel = new ListDisplayPanel();
ListDisplayPanel panel = new ListDisplayPanel();
panel.addImage(bufferedPinhole0,"Pinehole View 0");
panel.addImage(bufferedPinhole0, "Pinehole View 0");
panel.addImage(bufferedPinhole1,"Pinehole View 1");
panel.addImage(bufferedPinhole1, "Pinehole View 1");
panel.addImage(bufferedEqui,"Equirectangular");
panel.addImage(bufferedEqui, "Equirectangular");
panel.setPreferredSize(new Dimension(equiImage.width,equiImage.height));
panel.setPreferredSize(new Dimension(equiImage.width, equiImage.height));


ShowImages.showWindow(panel, "Equirectangular to Pinhole", true);
ShowImages.showWindow(panel, "Equirectangular to Pinhole", true);

Latest revision as of 13:24, 17 January 2022

Equirectangular images encode a full 360 view inside a rectangular image. This creates a highly distorted view, which can be visually displeasing and can't be processed directly by computer vision algorithms. Part of the view can be rendered inside a synthetic pinhole camera. The synthetic view could then be feed to fiducial detection algorithms, SFM, ... etc. This example shows to generate the synthetic pinhole camera view at an arbtirary orientation and intrinsic parameters.

Example File: ExampleEquirectangularToPinhole.java

Concepts:

  • Spherical View
  • Pinhole Camera

Related Examples:

Videos:

Example Code

/**
 * Demonstration for how to project a synthetic pinhole camera view given an equirectangular image. To
 * specify the projection the camera model needs to be configured and the orientation of the view needs to bet set.
 *
 * @author Peter Abeles
 */
public class ExampleEquirectangularToPinhole {
	public static void main( String[] args ) {

		// Specify what the pinhole camera should look like
		CameraPinhole pinholeModel = new CameraPinhole(200, 200, 0, 250, 250, 500, 500);

		// Load equirectangular RGB image
		BufferedImage bufferedEqui =
				UtilImageIO.loadImageNotNull(UtilIO.pathExample("spherical/equirectangular_half_dome_01.jpg"));
		Planar<GrayU8> equiImage =
				ConvertBufferedImage.convertFrom(bufferedEqui, true, ImageType.pl(3, GrayU8.class));

		// Declare storage for pinhole camera image
		Planar<GrayU8> pinholeImage = equiImage.createNew(pinholeModel.width, pinholeModel.height);

		// Create the image distorter which will render the image
		InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.
				createPixel(0, 255, InterpolationType.BILINEAR, BorderType.EXTENDED, equiImage.getImageType());
		ImageDistort<Planar<GrayU8>, Planar<GrayU8>> distorter =
				FactoryDistort.distort(false, interp, equiImage.getImageType());

		// This is where the magic is done. It defines the transform rfom equirectangular to pinhole
		CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
		pinholeToEqui.setEquirectangularShape(equiImage.width, equiImage.height);
		pinholeToEqui.setCameraModel(pinholeModel);

		// Pass in the transform to the image distorter
		distorter.setModel(pinholeToEqui);

		// change the orientation of the camera to make the view better
		ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.45f, 2.2f, pinholeToEqui.getRotation());

		// Render the image
		distorter.apply(equiImage, pinholeImage);
		BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage, null, true);

		// Let's look at another view
		ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ, 0, 1.25f, -1.25f, pinholeToEqui.getRotation());

		distorter.apply(equiImage, pinholeImage);
		BufferedImage bufferedPinhole1 = ConvertBufferedImage.convertTo(pinholeImage, null, true);

		// Display the results
		ListDisplayPanel panel = new ListDisplayPanel();
		panel.addImage(bufferedPinhole0, "Pinehole View 0");
		panel.addImage(bufferedPinhole1, "Pinehole View 1");
		panel.addImage(bufferedEqui, "Equirectangular");
		panel.setPreferredSize(new Dimension(equiImage.width, equiImage.height));

		ShowImages.showWindow(panel, "Equirectangular to Pinhole", true);
	}
}