Example Remove Lens Distortion - Revision history

Peter at 17:15, 12 July 2021

2021-07-12T17:15:53Z

Peter at 19:48, 21 December 2020

2020-12-21T19:48:37Z

← Older revision		Revision as of 19:48, 21 December 2020
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

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

	Concepts:		Concepts:
Line 34:		Line 34:
	public class ExampleRemoveLensDistortion {		public class ExampleRemoveLensDistortion {

	public static void main( String ~~args~~[] ) {		public static void main( String[] args ) {
	String calibDir = UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/");		String calibDir = UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/");
	String imageDir = UtilIO.pathExample("structure/");		String imageDir = UtilIO.pathExample("structure/");

Peter at 02:45, 15 March 2019

2019-03-15T02:45:04Z

← Older revision		Revision as of 02:45, 15 March 2019
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 39:		Line 39:

	// load calibration parameters from the previously calibrated camera		// load calibration parameters from the previously calibrated camera
	~~CameraPinholeRadial~~ param = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));		CameraPinholeBrown param = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));
	// Specify a transform that has no lens distortion that you wish to re-render the image as having		// Specify a transform that has no lens distortion that you wish to re-render the image as having
	CameraPinhole desired = new CameraPinhole(param);		CameraPinhole desired = new CameraPinhole(param);

Peter at 03:53, 27 December 2018

2018-12-27T03:53:35Z

← Older revision		Revision as of 03:53, 27 December 2018
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:

Peter at 15:29, 17 August 2017

2017-08-17T15:29:01Z

Peter at 22:18, 1 December 2016

2016-12-01T22:18:41Z

← Older revision		Revision as of 22:18, 1 December 2016
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 14:		Line 14:
	* Calibration		* Calibration
	* Intrinsic Parameters		* Intrinsic Parameters

	~~Relevant Applets:~~
	* [[Applet_Remove_Lens_Distortion\| Removing Lens Distortion]]
	* [[Applet_Lens_Distortion\| Lens Distortion Parameters]]
	* [[Applet_Calibrate_Planar_Mono\| Monocular Camera Calibration]]

	Related Examples:		Related Examples:
Line 44:		Line 39:

	// load calibration parameters from the previously calibrated camera		// load calibration parameters from the previously calibrated camera
	~~IntrinsicParameters~~ param = ~~UtilIO~~.~~loadXML~~(calibDir , "intrinsic.~~xml~~");		CameraPinholeRadial param = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));

	// load images and convert the image into a color BoofCV format		// load images and convert the image into a color BoofCV format
Line 78:		Line 73:
	ImageDistort allInside, ImageDistort fullView ) {		ImageDistort allInside, ImageDistort fullView ) {
	// render the results		// render the results
	Planar<GrayF32> undistortedImg = new Planar<~~GrayF32~~>(GrayF32.class,		Planar<GrayF32> undistortedImg = new Planar<>(GrayF32.class,
	distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());		distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());

Peter at 12:44, 28 March 2016

2016-03-28T12:44:24Z

← Older revision		Revision as of 12:44, 28 March 2016
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 48:		Line 48:
	// load images and convert the image into a color BoofCV format		// load images and convert the image into a color BoofCV format
	BufferedImage orig = UtilImageIO.loadImage(imageDir , "dist_cyto_01.jpg");		BufferedImage orig = UtilImageIO.loadImage(imageDir , "dist_cyto_01.jpg");
	~~MultiSpectral~~<~~ImageFloat32~~> distortedImg =		Planar<GrayF32> distortedImg =
	ConvertBufferedImage.convertFromMulti(orig, null,true, ~~ImageFloat32~~.class);		ConvertBufferedImage.convertFromMulti(orig, null,true, GrayF32.class);

	int numBands = distortedImg.getNumBands();		int numBands = distortedImg.getNumBands();
Line 57:		Line 57:
	// fullView will include the entire original image		// fullView will include the entire original image
	// The border is VALUE, which defaults to black, just so you can see it		// The border is VALUE, which defaults to black, just so you can see it
	ImageDistort allInside = LensDistortionOps.imageRemoveDistortion(AdjustmentType.EXPAND, BorderType.~~VALUE~~, param, null,		ImageDistort allInside = LensDistortionOps.imageRemoveDistortion(AdjustmentType.EXPAND, BorderType.ZERO, param, null,
	ImageType.ms(numBands, ~~ImageFloat32~~.class));		ImageType.pl(numBands, GrayF32.class));
	ImageDistort fullView = LensDistortionOps.imageRemoveDistortion(AdjustmentType.FULL_VIEW, BorderType.~~VALUE~~, param, null,		ImageDistort fullView = LensDistortionOps.imageRemoveDistortion(AdjustmentType.FULL_VIEW, BorderType.ZERO, param, null,
	ImageType.ms(numBands, ~~ImageFloat32~~.class));		ImageType.pl(numBands, GrayF32.class));

	// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass		// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass
Line 75:		Line 75:
	*/		*/
	private static void displayResults(BufferedImage orig,		private static void displayResults(BufferedImage orig,
	~~MultiSpectral~~<~~ImageFloat32~~> distortedImg,		Planar<GrayF32> distortedImg,
	ImageDistort allInside, ImageDistort fullView ) {		ImageDistort allInside, ImageDistort fullView ) {
	// render the results		// render the results
	~~MultiSpectral~~<~~ImageFloat32~~> undistortedImg = new ~~MultiSpectral~~<~~ImageFloat32~~>(~~ImageFloat32~~.class,		Planar<GrayF32> undistortedImg = new Planar<GrayF32>(GrayF32.class,
	distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());		distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());

Peter at 18:09, 9 November 2015

2015-11-09T18:09:26Z

Peter at 05:10, 16 September 2015

2015-09-16T05:10:38Z

← Older revision		Revision as of 05:10, 16 September 2015
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 54:		Line 54:

	// create new transforms which optimize view area in different ways.		// create new transforms which optimize view area in different ways.
	// ~~allInside~~ makes sure there are no dead zones inside the image		// shrink makes sure there are no dead zones inside the image
	// fullView will include the entire original image		// fullView will include the entire original image
	// The border is VALUE, which defaults to black, just so you can see it		// The border is VALUE, which defaults to black, just so you can see it
	ImageDistort allInside = LensDistortionOps.~~removeDistortion~~(~~true~~,BorderType.VALUE,param,null,		ImageDistort allInside = LensDistortionOps.imageRemoveDistortion(AdjustmentType.EXPAND, BorderType.VALUE, param, null,
	ImageType.ms(numBands,ImageFloat32.class));		ImageType.ms(numBands, ImageFloat32.class));
	ImageDistort fullView = LensDistortionOps.~~removeDistortion~~(~~false~~,BorderType.VALUE,param,null,		ImageDistort fullView = LensDistortionOps.imageRemoveDistortion(AdjustmentType.FULL_VIEW, BorderType.VALUE, param, null,
	ImageType.ms(numBands,ImageFloat32.class));		ImageType.ms(numBands, ImageFloat32.class));

	// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass		// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass
Line 81:		Line 81:
	distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());		distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());

	allInside.apply(distortedImg,undistortedImg);		allInside.apply(distortedImg, undistortedImg);
	BufferedImage out1 = ConvertBufferedImage.convertTo(undistortedImg, null,true);		BufferedImage out1 = ConvertBufferedImage.convertTo(undistortedImg, null,true);

Line 93:		Line 93:
	panel.addItem(new ImagePanel(out2), "Undistorted Full View");		panel.addItem(new ImagePanel(out2), "Undistorted Full View");

	ShowImages.showWindow(panel, "Removing Lens Distortion");		ShowImages.showWindow(panel, "Removing Lens Distortion", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 21:01, 22 September 2014

2014-09-22T21:01:57Z

← Older revision		Revision as of 21:01, 22 September 2014
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.17/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 31:		Line 31:
	*		*
	* After lens distortion has been removed the new image will not be properly contained inside the original		* After lens distortion has been removed the new image will not be properly contained inside the original
	* image side. ~~Several methods~~ are provided for scaling and translating the image to maximize the view area		* image side. Methods are provided for scaling and translating the image to maximize the view area
	* using different metrics. After this adjustment has been done the new image is equivalent to one being		* using different metrics. After this adjustment has been done the new image is equivalent to one being
	* generated by a virtual camera with a different set of intrinsic parameters.		* generated by a virtual camera with a different set of intrinsic parameters.
Line 51:		Line 51:
	ConvertBufferedImage.convertFromMulti(orig, null,true, ImageFloat32.class);		ConvertBufferedImage.convertFromMulti(orig, null,true, ImageFloat32.class);

	~~// compute the transform to remove lens distortion~~		int numBands = distortedImg.getNumBands();
	~~// The inverse transformation (adds distortion) is used when apply adjusting an image.~~
	~~// In other application the forward transformation (removes distortion) is required.~~
	~~PointTransform_F32 tran~~ = ~~LensDistortionOps~~.~~transformPixelToRadial_F32~~(~~param~~);

	// create new transforms to optimize view area		// create new transforms which optimize view area in different ways.
	// ~~After distortion~~ the ~~adjusted intrinsic camera parameters should be used.~~		// allInside makes sure there are no dead zones inside the image
	// ~~Since they are not being used in this example null~~ is ~~passed in.~~		// fullView will include the entire original image
	~~PointTransform_F32 fullView~~ = LensDistortionOps.~~fullView~~(param, null);		// The border is VALUE, which defaults to black, just so you can see it
	~~PointTransform_F32 allInside~~ = LensDistortionOps.~~allInside~~(param, null);		ImageDistort allInside = LensDistortionOps.removeDistortion(true,BorderType.VALUE,param,null,
			ImageType.ms(numBands,ImageFloat32.class));
			ImageDistort fullView = LensDistortionOps.removeDistortion(false,BorderType.VALUE,param,null,
			ImageType.ms(numBands,ImageFloat32.class));

	// ~~Set up image distort~~		// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass
	~~InterpolatePixelS<ImageFloat32> interp = FactoryInterpolation.bilinearPixelS(ImageFloat32~~.~~class);~~		// in a set of IntrinsicParameters to the 4th variable it will save it there.
	ImageDistort~~<ImageFloat32> distort = FactoryDistort~~.~~distort(interp,null,ImageFloat32~~.~~class);~~		// NOTE: Type information was stripped from ImageDistort simply because it becomes too verbose with it here.
			// Would be nice if this verbosity issue was addressed by the Java language.

	// render and display the different types of views in a window		// render and display the different types of views in a window
	displayResults(orig, distortedImg, ~~tran~~, fullView~~, allInside, distort~~);		displayResults(orig, distortedImg, allInside, fullView );
	}		}

Line 75:		Line 76:
	private static void displayResults(BufferedImage orig,		private static void displayResults(BufferedImage orig,
	MultiSpectral<ImageFloat32> distortedImg,		MultiSpectral<ImageFloat32> distortedImg,
	~~PointTransform_F32 tran,~~		ImageDistort allInside, ImageDistort fullView ) {
	~~PointTransform_F32 fullView,~~
	~~PointTransform_F32~~ allInside,
	ImageDistort~~<ImageFloat32> distort~~) {
	// render the results		// render the results
	MultiSpectral<ImageFloat32> undistortedImg = new MultiSpectral<ImageFloat32>(ImageFloat32.class,		MultiSpectral<ImageFloat32> undistortedImg = new MultiSpectral<ImageFloat32>(ImageFloat32.class,
	distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());		distortedImg.getWidth(),distortedImg.getHeight(),distortedImg.getNumBands());

	~~distort~~.~~setModel(new PointToPixelTransform_F32(tran));~~		allInside.apply(distortedImg,undistortedImg);
	~~GImageMiscOps.fill(undistortedImg, 0);~~
	~~DistortImageOps.distortMS~~(distortedImg, undistortedImg~~, distort~~);
	BufferedImage out1 = ConvertBufferedImage.convertTo(undistortedImg, null,true);		BufferedImage out1 = ConvertBufferedImage.convertTo(undistortedImg, null,true);

	~~distort.setModel(new PointToPixelTransform_F32(~~fullView~~));~~		fullView.apply(distortedImg,undistortedImg);
	~~GImageMiscOps~~.~~fill(undistortedImg,0);~~		BufferedImage out2 = ConvertBufferedImage.convertTo(undistortedImg, null,true);
	~~DistortImageOps.distortMS~~(distortedImg,undistortedImg~~,distort~~);
	BufferedImage out2 ~~= ConvertBufferedImage.convertTo(undistortedImg,null,true);~~

	~~distort.setModel(new PointToPixelTransform_F32(allInside));~~
	~~GImageMiscOps.fill(undistortedImg,0);~~
	~~DistortImageOps.distortMS(distortedImg,undistortedImg,distort);~~
	~~BufferedImage out3~~ = ConvertBufferedImage.convertTo(undistortedImg,null,true);

	// display in a single window where the user can easily switch between images		// display in a single window where the user can easily switch between images
	ListDisplayPanel panel = new ListDisplayPanel();		ListDisplayPanel panel = new ListDisplayPanel();
	panel.addItem(new ImagePanel(orig), "Original");		panel.addItem(new ImagePanel(orig), "Original");
	panel.addItem(new ImagePanel(out1~~), "Undistorted");~~		panel.addItem(new ImagePanel(out1), "Undistorted All Inside");
	~~panel.addItem(new ImagePanel(out3~~), "Undistorted All Inside");
	panel.addItem(new ImagePanel(out2), "Undistorted Full View");		panel.addItem(new ImagePanel(out2), "Undistorted Full View");

← Older revision		Revision as of 17:15, 12 July 2021
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

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

	Concepts:		Concepts:
Line 21:		Line 21:
	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		/**
	* All real camera lens have distortion. This distortion causes large errors when attempting to recover the		* All real camera lens have distortion. This distortion causes large errors when attempting to recover the
	* scene's structure and camera's motion. The following example demonstrates how the lens distortion can be		* scene's structure and camera's motion. The following example demonstrates how the lens distortion can be
	* removed from an image after the camera has been calibrated.		* removed from an image after the camera has been calibrated.
	*		*
	* After lens distortion has been removed the new image will not be properly contained inside the original		* After lens distortion has been removed the new image will not be properly contained inside the original
	* image side. Methods are provided for scaling and translating the image to maximize the view area		* image side. Methods are provided for scaling and translating the image to maximize the view area
	* using different metrics. After this adjustment has been done the new image is equivalent to one being		* using different metrics. After this adjustment has been done the new image is equivalent to one being
	* generated by a virtual camera with a different set of intrinsic parameters.		* generated by a virtual camera with a different set of intrinsic parameters.
	*		*
Line 59:		Line 59:
	param, desired, null, ImageType.pl(numBands, GrayF32.class));		param, desired, null, ImageType.pl(numBands, GrayF32.class));

	// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass		// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass
	// in a set of IntrinsicParameters to the 4th variable it will save it there.		// in a set of IntrinsicParameters to the 4th variable it will save it there.
	// NOTE: Type information was stripped from ImageDistort simply because it becomes too verbose with it here.		// NOTE: Type information was stripped from ImageDistort simply because it becomes too verbose with it here.

← Older revision		Revision as of 15:29, 17 August 2017
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

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

	Concepts:		Concepts:
Line 40:		Line 40:
	// load calibration parameters from the previously calibrated camera		// load calibration parameters from the previously calibrated camera
	CameraPinholeRadial param = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));		CameraPinholeRadial param = CalibrationIO.load(new File(calibDir , "intrinsic.yaml"));
			// Specify a transform that has no lens distortion that you wish to re-render the image as having
			CameraPinhole desired = new CameraPinhole(param);

	// load images and convert the image into a color BoofCV format		// load images and convert the image into a color BoofCV format
	BufferedImage orig = UtilImageIO.loadImage(imageDir , "dist_cyto_01.jpg");		BufferedImage orig = UtilImageIO.loadImage(imageDir , "dist_cyto_01.jpg");
	Planar<GrayF32> distortedImg =		Planar<GrayF32> distortedImg =
	ConvertBufferedImage.~~convertFromMulti~~(orig, null,true, GrayF32.class);		ConvertBufferedImage.convertFromPlanar(orig, null,true, GrayF32.class);

	int numBands = distortedImg.getNumBands();		int numBands = distortedImg.getNumBands();

	// create new transforms which optimize view area in different ways.		// create new transforms which optimize view area in different ways.
	// ~~shrink~~ makes sure there are no ~~dead zones~~ inside the image		// EXPAND makes sure there are no black outside of image pixels inside the image
	// ~~fullView~~ will include the entire original image		// FULL_VIEW will include the entire original image
	// The border is VALUE, which defaults to black, just so you can see it		// The border is VALUE, which defaults to black, just so you can see it
	ImageDistort allInside = LensDistortionOps.~~imageRemoveDistortion~~(AdjustmentType.EXPAND, BorderType.ZERO, param, null,		ImageDistort allInside = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.ZERO,
	ImageType.pl(numBands, GrayF32.class));		param, desired,null, ImageType.pl(numBands, GrayF32.class));
	ImageDistort fullView = LensDistortionOps.~~imageRemoveDistortion~~(AdjustmentType.FULL_VIEW, BorderType.ZERO, param, null,		ImageDistort fullView = LensDistortionOps.changeCameraModel(AdjustmentType.FULL_VIEW, BorderType.ZERO,
	ImageType.pl(numBands, GrayF32.class));		param, desired, null, ImageType.pl(numBands, GrayF32.class));

	// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass		// NOTE: After lens distortion has been removed the intrinsic parameters is changed. If you pass

← Older revision		Revision as of 18:09, 9 November 2015
Line 8:		Line 8:
	This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.		This example demonstrates how to load a camera's calibration from an XML file and remove lens distortion from its images. After lens distortion is removed, the new undistorted view often "pushes" pixels outside the viewing area. To compensate for this problem it is possible to adjust the view to maximize the view area based on different objectives. After adjusting the view be sure to use the new intrinsic parameters when performing geometric operations.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/calibration/ExampleRemoveLensDistortion.java ExampleRemoveLensDistortion.java]

	Concepts:		Concepts:
Line 40:		Line 40:

	public static void main( String args[] ) {		public static void main( String args[] ) {
	String calibDir = "~~../data/applet/~~calibration/mono/Sony_DSC-HX5V_Chess/";		String calibDir = UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_Chess/");
	String imageDir = "~~../data/evaluation/~~structure/";		String imageDir = UtilIO.pathExample("structure/");

	// load calibration parameters from the previously calibrated camera		// load calibration parameters from the previously calibrated camera
	IntrinsicParameters param = UtilIO.loadXML(calibDir + "intrinsic.xml");		IntrinsicParameters param = UtilIO.loadXML(calibDir , "intrinsic.xml");

	// load images and convert the image into a color BoofCV format		// load images and convert the image into a color BoofCV format
	BufferedImage orig = UtilImageIO.loadImage(imageDir + "dist_cyto_01.jpg");		BufferedImage orig = UtilImageIO.loadImage(imageDir , "dist_cyto_01.jpg");
	MultiSpectral<ImageFloat32> distortedImg =		MultiSpectral<ImageFloat32> distortedImg =
	ConvertBufferedImage.convertFromMulti(orig, null,true, ImageFloat32.class);		ConvertBufferedImage.convertFromMulti(orig, null,true, ImageFloat32.class);