Example Stereo Uncalibrated - Revision history

Peter at 00:34, 18 January 2022

2022-01-18T00:34:25Z

← Older revision		Revision as of 00:34, 18 January 2022
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]

	Concepts:		Concepts:
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	// String name = "turkey_";		// String name = "turkey_";

	BufferedImage buff01 = UtilImageIO.~~loadImage~~(UtilIO.pathExample("triple/" + name + "01.jpg"));		BufferedImage buff01 = UtilImageIO.loadImageNotNull(UtilIO.pathExample("triple/" + name + "01.jpg"));
	BufferedImage buff02 = UtilImageIO.~~loadImage~~(UtilIO.pathExample("triple/" + name + "02.jpg"));		BufferedImage buff02 = UtilImageIO.loadImageNotNull(UtilIO.pathExample("triple/" + name + "02.jpg"));

	Planar<GrayU8> color01 = ConvertBufferedImage.convertFrom(buff01, true, ImageType.pl(3, GrayU8.class));		Planar<GrayU8> color01 = ConvertBufferedImage.convertFrom(buff01, true, ImageType.pl(3, GrayU8.class));
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	DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(fx, fy, 0, cx, cy);		DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(fx, fy, 0, cx, cy);
	DMatrixRMaj H = MultiViewOps.createProjectiveToMetric(K, v.x, v.y, v.z, 1, null);		DMatrixRMaj H = MultiViewOps.createProjectiveToMetric(K, v.x, v.y, v.z, 1, null);
	~~DMatrixRMaj~~ P2m = new DMatrixRMaj(3, 4);		var P2m = new DMatrixRMaj(3, 4);
	CommonOps_DDRM.mult(P2, H, P2m);		CommonOps_DDRM.mult(P2, H, P2m);

Peter at 20:16, 12 July 2021

2021-07-12T20:16:48Z

← 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/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]

	Concepts:		Concepts:
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	// Find a set of point feature matches		// Find a set of point feature matches
	List<AssociatedPair> matches = ~~ExampleFundamentalMatrix~~.computeMatches(buff01, buff02);		List<AssociatedPair> matches = ExampleComputeFundamentalMatrix.computeMatches(buff01, buff02);

	// Prune matches using the epipolar constraint. use a low threshold to prune more false matches		// Prune matches using the epipolar constraint. use a low threshold to prune more false matches
	var inliers = new ArrayList<AssociatedPair>();		var inliers = new ArrayList<AssociatedPair>();
	DMatrixRMaj F = ~~ExampleFundamentalMatrix~~.robustFundamental(matches, inliers, 0.1);		DMatrixRMaj F = ExampleComputeFundamentalMatrix.robustFundamental(matches, inliers, 0.1);

	// Perform self calibration using the projective view extracted from F		// Perform self calibration using the projective view extracted from F

Peter at 02:54, 22 December 2020

2020-12-22T02:54:18Z

Show changes

Peter at 01:14, 24 December 2019

2019-12-24T01:14:14Z

← Older revision		Revision as of 01:14, 24 December 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]

	Concepts:		Concepts:
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	// Successful		// Successful
	String name = "~~mono_wall_~~";		String name = "bobcats_";
	// String name = "~~bobcats_~~";		// String name = "mono_wall_";
	// String name = "minecraft_cave1_";		// String name = "minecraft_cave1_";
	// String name = "chicken_";		// String name = "chicken_";

Peter at 18:37, 7 July 2019

2019-07-07T18:37:18Z

← Older revision		Revision as of 18:37, 7 July 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]

	Concepts:		Concepts:
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	System.out.println("\nCamera");		System.out.println("\nCamera");
	for (int i = 0; i < structure.cameras.~~length~~; i++) {		for (int i = 0; i < structure.cameras.size; i++) {
	System.out.println(structure.cameras[i].getModel().toString());		System.out.println(structure.cameras.data[i].getModel().toString());
	}		}
	System.out.println("\n\nworldToView");		System.out.println("\n\nworldToView");
	for (int i = 0; i < structure.views.~~length~~; i++) {		for (int i = 0; i < structure.views.size; i++) {
	System.out.println(structure.views[i].worldToView.toString());		System.out.println(structure.views.data[i].worldToView.toString());
	}		}

	// display the inlier matches found using the robust estimator		// display the inlier matches found using the robust estimator
	System.out.println("\n\nComputing Stereo Disparity");		System.out.println("\n\nComputing Stereo Disparity");
	BundlePinholeSimplified cp = structure.getCameras()[0].getModel();		BundlePinholeSimplified cp = structure.getCameras().get(0).getModel();
	CameraPinholeBrown intrinsic = new CameraPinholeBrown();		CameraPinholeBrown intrinsic = new CameraPinholeBrown();
	intrinsic.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic.fsetRadial(cp.k1,cp.k2);		intrinsic.fsetRadial(cp.k1,cp.k2);

	Se3_F64 leftToRight = structure.views[1].worldToView;		Se3_F64 leftToRight = structure.views.data[1].worldToView;

	computeStereoCloud(image01,image02,color01,color02,intrinsic,intrinsic,leftToRight,0,250);		computeStereoCloud(image01,image02,color01,color02,intrinsic,intrinsic,leftToRight,0,250);

Peter at 01:57, 28 May 2019

2019-05-28T01:57:16Z

← Older revision		Revision as of 01:57, 28 May 2019
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	Videos		Videos
	* [[https://www.youtube.com/watch?v=O_yAdsT8d84 Theoretical Explanation]]		* [https://www.youtube.com/watch?v=O_yAdsT8d84 Theoretical Explanation]
	* [[https://www.youtube.com/watch?v=GDI2y8JwLNs&t=115s Demonstration]]		* [https://www.youtube.com/watch?v=GDI2y8JwLNs&t=115s Demonstration]

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

Peter at 01:56, 28 May 2019

2019-05-28T01:56:58Z

← Older revision		Revision as of 01:56, 28 May 2019
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	* Rectification		* Rectification
	* Dense stereo processing		* Dense stereo processing

			Videos
			* [[https://www.youtube.com/watch?v=O_yAdsT8d84 Theoretical Explanation]]
			* [[https://www.youtube.com/watch?v=GDI2y8JwLNs&t=115s Demonstration]]

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

Peter at 15:15, 15 March 2019

2019-03-15T15:15:37Z

← Older revision		Revision as of 15:15, 15 March 2019
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	Given two views from an unknown camera compute a dense 3D point cloud. This is a very challenging problem and many of the steps are inherently unstable. This example code only converges to a valid solution about 40% of the time when presented with two well textured input images with good geometry! When it does work it can work almost well as the calibrated cases! If [[~~Three_View_Stereo_Uncalibrated~~\|three views]] are available the problem becomes much more stable.		Given two views from an unknown camera compute a dense 3D point cloud. This is a very challenging problem and many of the steps are inherently unstable. This example code only converges to a valid solution about 40% of the time when presented with two well textured input images with good geometry! When it does work it can work almost well as the calibrated cases! If [[Example_Three_View_Stereo_Uncalibrated\|three views]] are available the problem becomes much more stable.

	See code comments below for a summary of all the processing steps involved.		See code comments below for a summary of all the processing steps involved.

	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/stereo/ExampleStereoUncalibrated.java ExampleStereoUncalibrated.java]

	Concepts:		Concepts:
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	public static void main( String args[] ) {		public static void main( String args[] ) {
			// Solution below is unstable. Turning concurrency off so that it always produces a valid solution
			// The two view case is very challenging and I've not seen a stable algorithm yet
			BoofConcurrency.USE_CONCURRENT = false;

	// Successful		// Successful
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	// Create and configure the bundle adjustment solver		// Create and configure the bundle adjustment solver
	BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.~~bundleAdjustmentMetric~~(configSBA);		BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
	// prints out useful debugging information that lets you know how well it's converging		// prints out useful debugging information that lets you know how well it's converging
	bundleAdjustment.setVerbose(System.out,0);		bundleAdjustment.setVerbose(System.out,0);
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	System.out.println("\n\nComputing Stereo Disparity");		System.out.println("\n\nComputing Stereo Disparity");
	BundlePinholeSimplified cp = structure.getCameras()[0].getModel();		BundlePinholeSimplified cp = structure.getCameras()[0].getModel();
	~~CameraPinholeRadial~~ intrinsic = new ~~CameraPinholeRadial~~();		CameraPinholeBrown intrinsic = new CameraPinholeBrown();
	intrinsic.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic.fsetRadial(cp.k1,cp.k2);		intrinsic.fsetRadial(cp.k1,cp.k2);

Peter at 05:11, 27 December 2018

2018-12-27T05:11:45Z

← Older revision		Revision as of 05:11, 27 December 2018
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	Related Tutorials/Example Code:		Related Tutorials/Example Code:
	* [[~~Three_View_Stereo_Uncalibrated~~\| Three View Stereo Uncalibrated]]		* [[Example_Three_View_Stereo_Uncalibrated\| Three View Stereo Uncalibrated]]
	* [[Example_Stereo_Single_Camera\| Stereo Single Calibrated Camera]]		* [[Example_Stereo_Single_Camera\| Stereo Single Calibrated Camera]]
	* [[Example_Stereo_Disparity\| Disparity from Calibrated Stereo Camera]]		* [[Example_Stereo_Disparity\| Disparity from Calibrated Stereo Camera]]

Peter at 05:08, 27 December 2018

2018-12-27T05:08:50Z

← Older revision		Revision as of 05:08, 27 December 2018
Line 3:		Line 3:


	Given two views from an unknown camera compute a dense 3D point cloud. This is a challenging problem ~~which requires the camera's intrinsic parameters~~ and the ~~extrinic relationship between the two views be estimated to a high level of precision to work well~~. This example code only converges to a valid solution about 40% of the time when presented with two well textured input images with good geometry! When it does work it can work as well as the calibrated cases!		Given two views from an unknown camera compute a dense 3D point cloud. This is a very challenging problem and many of the steps are inherently unstable. This example code only converges to a valid solution about 40% of the time when presented with two well textured input images with good geometry! When it does work it can work almost well as the calibrated cases! If [[Three_View_Stereo_Uncalibrated\|three views]] are available the problem becomes much more stable.

	See code comments below for a summary of all the processing steps involved.		See code comments below for a summary of all the processing steps involved.
Line 19:		Line 19:

	Related Tutorials/Example Code:		Related Tutorials/Example Code:
			* [[Three_View_Stereo_Uncalibrated\| Three View Stereo Uncalibrated]]
	* [[Example_Stereo_Single_Camera\| Stereo Single Calibrated Camera]]		* [[Example_Stereo_Single_Camera\| Stereo Single Calibrated Camera]]
	* [[Example_Stereo_Disparity\| Stereo ~~Disparity Example~~]]		* [[Example_Stereo_Disparity\| Disparity from Calibrated Stereo Camera]]
			* [[Example_Sparse_Bundle_Adjustment\| Bundle Adjustment]]
	* [[Example_Rectification_Calibrated\| Calibrated Stereo Rectification Example]]		* [[Example_Rectification_Calibrated\| Calibrated Stereo Rectification Example]]
	* [[Tutorial_Camera_Calibration\| Camera Calibration Tutorial]]		* [[Tutorial_Camera_Calibration\| Camera Calibration Tutorial]]