Example Equirectangular To Pinhole - Revision history

Peter at 20:24, 17 January 2022

2022-01-17T20:24:57Z

← Older revision		Revision as of 20:24, 17 January 2022
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	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/v0.38/examples/src/main/java/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:
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	*/		*/
	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(200,200,0,250,250,500,500);		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
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	InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.		InterpolatePixel<Planar<GrayU8>> interp = FactoryInterpolation.
	createPixel(0, 255, InterpolationType.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
	CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();		CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
	pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);		pinholeToEqui.setEquirectangularShape(equiImage.width, equiImage.height);
	pinholeToEqui.setCameraModel(pinholeModel);		pinholeToEqui.setCameraModel(pinholeModel);

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	// change the orientation of the camera to make the view better		// change the orientation of the camera to make the view better
	ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ,0, 1.45f, 2.2f,pinholeToEqui.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_F32.eulerToMatrix(EulerType.YXZ,0, 1.25f, -1.25f,pinholeToEqui.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);

Peter at 17:12, 12 July 2021

2021-07-12T17:12:57Z

← Older revision		Revision as of 17:12, 12 July 2021
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	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/v0.33/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]

	Concepts:		Concepts:
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	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
	CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();		CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
	pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);		pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);

Peter at 02:42, 15 March 2019

2019-03-15T02:42:01Z

← Older revision		Revision as of 02:42, 15 March 2019
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/v0.30/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]

	Concepts:		Concepts:

Peter at 04:03, 22 May 2018

2018-05-22T04:03:46Z

← Older revision		Revision as of 04:03, 22 May 2018
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/v0.30/examples/src/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.30/examples/src/main/java/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]

	Concepts:		Concepts:

Peter at 04:01, 22 May 2018

2018-05-22T04:01:04Z

← Older revision		Revision as of 04:01, 22 May 2018
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/v0.27/examples/src/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.30/examples/src/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]

	Concepts:		Concepts:
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	// 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
	~~PinholeToEquirectangular_F32~~ pinholeToEqui = new ~~PinholeToEquirectangular_F32~~();		CameraToEquirectangular_F32 pinholeToEqui = new CameraToEquirectangular_F32();
	pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);		pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);
	pinholeToEqui.~~setPinhole~~(pinholeModel);		pinholeToEqui.setCameraModel(pinholeModel);

	// Pass in the transform to the image distorter		// Pass in the transform to the image distorter

Peter at 15:26, 17 August 2017

2017-08-17T15:26:33Z

← Older revision		Revision as of 15:26, 17 August 2017
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/v0.27/examples/src/boofcv/examples/calibration/ExampleEquirectangularToPinhole.java ExampleEquirectangularToPinhole.java]

	Concepts:		Concepts:
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	// 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
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	// 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~~();		PinholeToEquirectangular_F32 pinholeToEqui = new PinholeToEquirectangular_F32();
	~~equiToPinhole~~.setEquirectangularShape(equiImage.width,equiImage.height);		pinholeToEqui.setEquirectangularShape(equiImage.width,equiImage.height);
	~~equiToPinhole~~.setPinhole(pinholeModel);		pinholeToEqui.setPinhole(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
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	// 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);

Peter at 17:48, 5 January 2017

2017-01-05T17:48:12Z

← Older revision		Revision as of 17:48, 5 January 2017
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	Related Examples:		Related Examples:
	* [[Example_Fisheye_To_Equirectangular\|Fisheye to Equirectangular]]		* [[Example_Fisheye_To_Equirectangular\|Fisheye to Equirectangular]]

			Videos:
			* [https://youtu.be/qMTtdiujAtQ?t=150 Video of Demonstration]

	= Example Code =		= Example Code =

Peter at 05:23, 2 December 2016

2016-12-02T05:23:30Z

← Older revision		Revision as of 05:23, 2 December 2016
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	* Spherical View		* Spherical View
	* Pinhole Camera		* Pinhole Camera

			Related Examples:
			* [[Example_Fisheye_To_Equirectangular\|Fisheye to Equirectangular]]

	= Example Code =		= Example Code =

Peter: Created page with " Image:Equirectangular_half_dome_01.jpg|Input equirectangular image Image:Half_dome_pinhole_0.jpg|Forward View Image:Half_dome_pinhol..."

2016-12-01T22:02:58Z

Created page with "<center> <gallery heights=260 widths=260 > Image:Equirectangular_half_dome_01.jpg|Input equirectangular image Image:Half_dome_pinhole_0.jpg|Forward View Image:Half_dome_pinhol..."

New page

<center>
<gallery heights=260 widths=260 >
Image:Equirectangular_half_dome_01.jpg|Input equirectangular image
Image:Half_dome_pinhole_0.jpg|Forward View
Image:Half_dome_pinhole_1.jpg|Left View
</gallery>
</center>

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]

Concepts:
* Spherical View
* Pinhole Camera

= Example Code =
<syntaxhighlight lang="java">
/**
* 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(250,250,0,250,250,500,500);

// Load equirectangular RGB image
BufferedImage bufferedEqui =
UtilImageIO.loadImage(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, InterpolateType.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
EquirectangularToPinhole_F32 equiToPinhole = new EquirectangularToPinhole_F32();
equiToPinhole.setEquirectangularShape(equiImage.width,equiImage.height);
equiToPinhole.setPinhole(pinholeModel);

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

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

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

// Let's look at another view
ConvertRotation3D_F64.eulerToMatrix(EulerType.YXZ,0, 1.25, -1.25,equiToPinhole.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);
}
}
</syntaxhighlight>