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ExampleRectifyCalibratedStereo.java
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ExampleRectifyCalibratedStereo.java
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/*
* Copyright (c) 2011-2013, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.examples.stereo;
import boofcv.alg.distort.DistortImageOps;
import boofcv.alg.distort.ImageDistort;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.alg.geo.RectifyImageOps;
import boofcv.alg.geo.rectify.RectifyCalibrated;
import boofcv.core.image.ConvertBufferedImage;
import boofcv.gui.ListDisplayPanel;
import boofcv.gui.image.ShowImages;
import boofcv.gui.stereo.RectifiedPairPanel;
import boofcv.io.UtilIO;
import boofcv.io.image.UtilImageIO;
import boofcv.struct.calib.StereoParameters;
import boofcv.struct.image.ImageFloat32;
import boofcv.struct.image.MultiSpectral;
import georegression.struct.se.Se3_F64;
import org.ejml.data.DenseMatrix64F;
import java.awt.image.BufferedImage;
/**
* <p>
* Show how to rectify a pair of stereo images with known intrinsic parameters and stereo baseline.
* The example code does the following:<br>
* 1) Load stereo parameters from XML file with a pair of images.<br>
* 2) Undistort and rectify images.. This provides one rectification matrix
* for each image along with a new camera calibration matrix.<br>
* 3) The original rectification does not try to maximize view area, however it can be adjusted.
* 4)After rectification is finished the results are displayed.<br>
* </p>
*
* <p>
* Note that the y-axis in left and right images align after rectification. The curved image edge
* is an artifact of lens distortion being removed.
* </p>
*
* @author Peter Abeles
*/
public class ExampleRectifyCalibratedStereo {
public static void main( String args[] ) {
String dir = "../data/applet/calibration/stereo/Bumblebee2_Chess/";
StereoParameters param = UtilIO.loadXML(dir + "stereo.xml");
// load images
BufferedImage origLeft = UtilImageIO.loadImage(dir+"left05.jpg");
BufferedImage origRight = UtilImageIO.loadImage(dir+"right05.jpg");
// distorted images
MultiSpectral<ImageFloat32> distLeft =
ConvertBufferedImage.convertFromMulti(origLeft, null,true, ImageFloat32.class);
MultiSpectral<ImageFloat32> distRight =
ConvertBufferedImage.convertFromMulti(origRight, null,true, ImageFloat32.class);
// storage for undistorted + rectified images
MultiSpectral<ImageFloat32> rectLeft = new MultiSpectral<ImageFloat32>(ImageFloat32.class,
distLeft.getWidth(),distLeft.getHeight(),distLeft.getNumBands());
MultiSpectral<ImageFloat32> rectRight = new MultiSpectral<ImageFloat32>(ImageFloat32.class,
distRight.getWidth(),distRight.getHeight(),distRight.getNumBands());
// Compute rectification
RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
Se3_F64 leftToRight = param.getRightToLeft().invert(null);
// original camera calibration matrices
DenseMatrix64F K1 = PerspectiveOps.calibrationMatrix(param.getLeft(), null);
DenseMatrix64F K2 = PerspectiveOps.calibrationMatrix(param.getRight(), null);
rectifyAlg.process(K1,new Se3_F64(),K2,leftToRight);
// rectification matrix for each image
DenseMatrix64F rect1 = rectifyAlg.getRect1();
DenseMatrix64F rect2 = rectifyAlg.getRect2();
// New calibration matrix,
// Both cameras have the same one after rectification.
DenseMatrix64F rectK = rectifyAlg.getCalibrationMatrix();
// Adjust the rectification to make the view area more useful
RectifyImageOps.fullViewLeft(param.left, rect1, rect2, rectK);
// RectifyImageOps.allInsideLeft(param.left, leftHanded, rect1, rect2, rectK);
// undistorted and rectify images
ImageDistort<ImageFloat32> imageDistortLeft =
RectifyImageOps.rectifyImage(param.getLeft(), rect1, ImageFloat32.class);
ImageDistort<ImageFloat32> imageDistortRight =
RectifyImageOps.rectifyImage(param.getRight(), rect2, ImageFloat32.class);
DistortImageOps.distortMS(distLeft, rectLeft, imageDistortLeft);
DistortImageOps.distortMS(distRight, rectRight, imageDistortRight);
// convert for output
BufferedImage outLeft = ConvertBufferedImage.convertTo(rectLeft,null,true);
BufferedImage outRight = ConvertBufferedImage.convertTo(rectRight, null,true);
// show results and draw a horizontal line where the user clicks to see rectification easier
ListDisplayPanel panel = new ListDisplayPanel();
panel.addItem(new RectifiedPairPanel(true, origLeft, origRight), "Original");
panel.addItem(new RectifiedPairPanel(true, outLeft, outRight), "Rectified");
ShowImages.showWindow(panel,"Stereo Rectification Calibrated");
}
}