Example Fisheye To Pinhole - Revision history

Peter at 17:15, 12 July 2021

2021-07-12T17:15:12Z

← Older revision		Revision as of 17:15, 12 July 2021
Line 10:		Line 10:
	run part of the view needs to be converted into a pinhole camera view.		run part of the view needs to be converted into a pinhole camera view.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]

	Concepts:		Concepts:
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	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		/**
	* Demonstration for how to project a fisheye camera onto a synthetic pinhole camera view. Internally NarrowToWide		* Demonstration for how to project a fisheye camera onto a synthetic pinhole camera view. Internally NarrowToWide
	* has the following steps. 1) compute normalized image coordinates for each pixel. 2) convert into unit circle		* has the following steps. 1) compute normalized image coordinates for each pixel. 2) convert into unit circle
	* coordinates, and 3) compute pixe location in fisheye camera.		* coordinates, and 3) compute pixe location in fisheye camera.
	*		*
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	distorter.setModel(new PointToPixelTransform_F32(transform));		distorter.setModel(new PointToPixelTransform_F32(transform));

	// Render the image. The camera will have a rotation of 0 and will thus be looking straight forward		// Render the image. The camera will have a rotation of 0 and will thus be looking straight forward
	Planar<GrayU8> pinholeImage = fisheyeImage.createNew(pinholeModel.width, pinholeModel.height);		Planar<GrayU8> pinholeImage = fisheyeImage.createNew(pinholeModel.width, pinholeModel.height);

Peter at 19:48, 21 December 2020

2020-12-21T19:48:06Z

← Older revision		Revision as of 19:48, 21 December 2020
Line 10:		Line 10:
	run part of the view needs to be converted into a pinhole camera view.		run part of the view needs to be converted into a pinhole camera view.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]

	Concepts:		Concepts:

Peter at 02:44, 15 March 2019

2019-03-15T02:44:24Z

← Older revision		Revision as of 02:44, 15 March 2019
Line 10:		Line 10:
	run part of the view needs to be converted into a pinhole camera view.		run part of the view needs to be converted into a pinhole camera view.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]

	Concepts:		Concepts:

Peter at 15:28, 17 August 2017

2017-08-17T15:28:12Z

Peter at 05:25, 2 December 2016

2016-12-02T05:25:36Z

← Older revision		Revision as of 05:25, 2 December 2016
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	* Fisheye Cameras		* Fisheye Cameras
	* Camera calibration		* Camera calibration

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

	= Example Code =		= Example Code =

Peter: Created page with " File:Front_table.jpg|Fisheye View File:Fisheye_to_pinhole_front.jpg|Pinhole View Front File:Fisheye_to_pinhole_right.jpg|Pinhole Vie..."

2016-12-01T22:28:12Z

Created page with "<center> <gallery heights=260 widths=260 > File:Front_table.jpg|Fisheye View File:Fisheye_to_pinhole_front.jpg|Pinhole View Front File:Fisheye_to_pinhole_right.jpg|Pinhole Vie..."

New page

<center>
<gallery heights=260 widths=260 >
File:Front_table.jpg|Fisheye View
File:Fisheye_to_pinhole_front.jpg|Pinhole View Front
File:Fisheye_to_pinhole_right.jpg|Pinhole View Right
</gallery>
</center>

Fisheye lens can allow a view greater than 180 degrees to be seen. This cannot be represented using a pinhole camera and is highly distorted. To allow many vision algorithms to
run part of the view needs to be converted into a pinhole camera view.

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

Concepts:
* Fisheye Cameras
* Camera calibration

= Example Code =
<syntaxhighlight lang="java">
/**
* Demonstration for how to project a fisheye camera onto a synthetic pinhole camera view. Internally NarrowToWide
* has the following steps. 1) compute normalized image coordinates for each pixel. 2) convert into unit circle
* coordinates, and 3) compute pixe location in fisheye camera.
*
* @author Peter Abeles
*/
public class ExampleFisheyeToPinhole {
public static void main(String[] args) {
// Path to image data and calibration data
String fisheyePath = UtilIO.pathExample("fisheye/theta/");

// load the fisheye camera parameters
CameraUniversalOmni fisheyeModel = CalibrationIO.load(new File(fisheyePath,"front.yaml"));

// Specify what the pinhole camera should look like
CameraPinhole pinholeModel = new CameraPinhole(400,400,0,300,300,600,600);

// Create the transform from pinhole to fisheye views
LensDistortionNarrowFOV pinholeDistort = new LensDistortionPinhole(pinholeModel);
LensDistortionWideFOV fisheyeDistort = new LensDistortionUniversalOmni(fisheyeModel);
NarrowToWidePtoP_F32 transform = new NarrowToWidePtoP_F32(pinholeDistort,fisheyeDistort);

// Load fisheye RGB image
BufferedImage bufferedFisheye = UtilImageIO.loadImage(fisheyePath,"front_table.jpg");
Planar<GrayU8> fisheyeImage = ConvertBufferedImage.convertFrom(
bufferedFisheye, true, ImageType.pl(3,GrayU8.class));

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

// Pass in the transform created above
distorter.setModel(new PointToPixelTransform_F32(transform));

// Render the image. The camera will have a rotation of 0 and will thus be looking straight forward
Planar<GrayU8> pinholeImage = fisheyeImage.createNew(pinholeModel.width, pinholeModel.height);

distorter.apply(fisheyeImage,pinholeImage);
BufferedImage bufferedPinhole0 = ConvertBufferedImage.convertTo(pinholeImage,null,true);

// rotate the virtual pinhole camera to the right
transform.setRotationWideToNarrow(ConvertRotation3D_F64.eulerToMatrix(EulerType.YXZ,0.8,0,0,null));

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

// Display the results
ListDisplayPanel panel = new ListDisplayPanel();
panel.addImage(bufferedPinhole0,"Pinehole Forward");
panel.addImage(bufferedPinhole1,"Pinehole Right");
panel.addImage(bufferedFisheye,"Fisheye");
panel.setPreferredSize(new Dimension(600,450));

ShowImages.showWindow(panel, "Fisheye to Pinhole", true);
}
}
</syntaxhighlight>

← Older revision		Revision as of 15:28, 17 August 2017
Line 10:		Line 10:
	run part of the view needs to be converted into a pinhole camera view.		run part of the view needs to be converted into a pinhole camera view.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/calibration/ExampleFisheyeToPinhole.java ExampleFisheyeToPinhole.java]

	Concepts:		Concepts:
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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.ZERO, fisheyeImage.getImageType());		createPixel(0, 255, InterpolationType.BILINEAR, BorderType.ZERO, fisheyeImage.getImageType());
	ImageDistort<Planar<GrayU8>,Planar<GrayU8>> distorter =		ImageDistort<Planar<GrayU8>,Planar<GrayU8>> distorter =
	FactoryDistort.distort(false,interp,fisheyeImage.getImageType());		FactoryDistort.distort(false,interp,fisheyeImage.getImageType());
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	// rotate the virtual pinhole camera to the right		// rotate the virtual pinhole camera to the right
	transform.setRotationWideToNarrow(~~ConvertRotation3D_F64~~.eulerToMatrix(EulerType.YXZ,0.8,0,0,null));		transform.setRotationWideToNarrow(ConvertRotation3D_F32.eulerToMatrix(EulerType.YXZ,0.8f,0,0,null));

	distorter.apply(fisheyeImage,pinholeImage);		distorter.apply(fisheyeImage,pinholeImage);