ohmm
Class CvUndistort

java.lang.Object
  ohmm.CvBase
      ohmm.CvUndistort

Direct Known Subclasses:

CvVisualServo

public class CvUndistort
extends CvBase

Extends CvBase to optionally perform undistortion.

Undistortion requires the camera_matrix and distortion_coefficients fields from an OpenCV YAML camera calibration file, saved to intrinsics and distortions, respectively.

The camera_to_model_0 matrix is also read, if available, and saved to extrinsics.

Author:

Marsette A. Vona

Field Summary

static java.lang.String	APPNAME Application name.
protected com.googlecode.javacv.cpp.opencv_core.CvMat	distortions Camera distortions from calibration file.
protected com.googlecode.javacv.cpp.opencv_core.CvMat	extrinsics Camera extrinsics from calibration file.
protected com.googlecode.javacv.cpp.opencv_core.CvMat	intrinsics Camera intrinsics from calibration file.
protected com.googlecode.javacv.cpp.opencv_core.IplImage	mapx Remap coordinates, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).
protected com.googlecode.javacv.cpp.opencv_core.IplImage	mapy Remap coordinates, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).
protected boolean	undistort Whether to attempt undistortion.
protected com.googlecode.javacv.cpp.opencv_core.IplImage	undistortImage Undistorted image buffer, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).

Fields inherited from class ohmm.CvBase

appname, brightness, canvasFrame, canvasFrameKeyEvent, cap, CAP_PROP_NAMES, CAP_PROPS, capImage, dbg, DEF_APPNAME, DEF_CAM_H, DEF_CAM_W, DEF_INPUT, DEF_MAX_FPS, DEF_MIN_DELAY_MS, DEF_SERVER_FPS, DEF_SERVER_PORT, DEF_USE_CANVAS_FRAME, DEF_USE_CONSOLE, DEF_USE_SERVER, DEF_USE_WINDOW, enableExit, exposure, FMT, frameEndMS, frameN, gain, grabber, height, hue, maxFPS, minDelayMS, mouseCallback, msgStream, msPerTick, paused, procImage, saturation, saveImage, server, serverFPS, serverImage, serverKey, serverPort, streamIndex, useCanvasFrame, useConsole, useServer, useWindow, V4L2_AUTO_PROP_NAMES, V4L2_AUTO_PROP_OFF_VALS, V4L2_AUTO_PROP_ON_VALS, V4L2_AUTO_PROPS, V4L2_CID_AUDIO_BALANCE, V4L2_CID_AUDIO_BASS, V4L2_CID_AUDIO_LOUDNESS, V4L2_CID_AUDIO_MUTE, V4L2_CID_AUDIO_TREBLE, V4L2_CID_AUDIO_VOLUME, V4L2_CID_AUTO_WHITE_BALANCE, V4L2_CID_AUTOGAIN, V4L2_CID_BACKLIGHT_COMPENSATION, V4L2_CID_BASE, V4L2_CID_BLACK_LEVEL, V4L2_CID_BLUE_BALANCE, V4L2_CID_BRIGHTNESS, V4L2_CID_CAMERA_CLASS, V4L2_CID_CAMERA_CLASS_BASE, V4L2_CID_CONTRAST, V4L2_CID_DO_WHITE_BALANCE, V4L2_CID_EXPOSURE, V4L2_CID_EXPOSURE_ABSOLUTE, V4L2_CID_EXPOSURE_AUTO, V4L2_CID_EXPOSURE_AUTO_PRIORITY, V4L2_CID_FOCUS_ABSOLUTE, V4L2_CID_FOCUS_AUTO, V4L2_CID_FOCUS_RELATIVE, V4L2_CID_GAIN, V4L2_CID_GAMMA, V4L2_CID_HCENTER_DEPRECATED, V4L2_CID_HFLIP, V4L2_CID_HUE, V4L2_CID_HUE_AUTO, V4L2_CID_LASTP1, V4L2_CID_PAN_ABSOLUTE, V4L2_CID_PAN_RELATIVE, V4L2_CID_PAN_RESET, V4L2_CID_POWER_LINE_FREQUENCY, V4L2_CID_POWER_LINE_FREQUENCY_50HZ, V4L2_CID_POWER_LINE_FREQUENCY_60HZ, V4L2_CID_POWER_LINE_FREQUENCY_DISABLED, V4L2_CID_PRIVATE_BASE, V4L2_CID_RED_BALANCE, V4L2_CID_SATURATION, V4L2_CID_SHARPNESS, V4L2_CID_TILT_ABSOLUTE, V4L2_CID_TILT_RELATIVE, V4L2_CID_TILT_RESET, V4L2_CID_USER_BASE, V4L2_CID_USER_CLASS, V4L2_CID_VCENTER_DEPRECATED, V4L2_CID_VFLIP, V4L2_CID_WHITE_BALANCE_TEMPERATURE, V4L2_CID_WHITENESS, V4L2_CTRL_CLASS_CAMERA, V4L2_CTRL_CLASS_MPEG, V4L2_CTRL_CLASS_USER, V4L2_EXPOSURE_APERTURE_PRIORITY, V4L2_EXPOSURE_AUTO, V4L2_EXPOSURE_MANUAL, V4L2_EXPOSURE_SHUTTER_PRIORITY, v4l2Auto, warnStream, width

Constructor Summary

CvUndistort()
Sets APPNAME.

CvUndistort(java.lang.String appname)
Chains to superclass constructor.

Method Summary

protected boolean	camIndexOptional() Help for the extra command line parameter.
protected void	cmdHelpExt() Display extra command line help, for subclasses.
protected java.lang.String	cmdHelpExtParams() Shows the extra command line parameter.
protected void	guiHelpExt() Help for the extra GUI keyboard commands.
protected boolean	handleKeyExt(int code) Handle our custom keypresses.
int	initExt(int argc, java.lang.String[] argv, int ate) Loads camera calibration if given.
static void	main(java.lang.String[] argv) Program entry point.
protected com.googlecode.javacv.cpp.opencv_core.IplImage	process(com.googlecode.javacv.cpp.opencv_core.IplImage frame) Applies undistortion if undistort and intrinsics and distortions available.
com.googlecode.javacv.cpp.opencv_core.CvMat	readMat(com.googlecode.javacv.cpp.opencv_core.CvFileStorage fs, java.lang.String name) Read the named OpenCV matrix from file.
void	release() Releases allocated memory.

Methods inherited from class ohmm.CvBase

cmdHelp, doneProcessing, dumpCaptureProperties, finalize, fmt, getCaptureProperty, getDefAppname, getDefInput, guiHelp, handleKey, handleMouse, handleMouse, init, init, init, init, mainLoop, makeGrabber, makeServer, mouseEventToString, msg, nowMS, save, setCaptureProperty, updateServerImage, v4l2DisableAuto, v4l2EnableAuto, v4l2GetExposure, v4l2SetExposure, waitForKeypresss, warn

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

APPNAME

public static final java.lang.String APPNAME

Application name.

See Also:

Constant Field Values

intrinsics

protected com.googlecode.javacv.cpp.opencv_core.CvMat intrinsics

Camera intrinsics from calibration file.

distortions

protected com.googlecode.javacv.cpp.opencv_core.CvMat distortions

Camera distortions from calibration file.

extrinsics

protected com.googlecode.javacv.cpp.opencv_core.CvMat extrinsics

Camera extrinsics from calibration file.

mapx

protected com.googlecode.javacv.cpp.opencv_core.IplImage mapx

Remap coordinates, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).

mapy

protected com.googlecode.javacv.cpp.opencv_core.IplImage mapy

Remap coordinates, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).

undistort

protected boolean undistort

Whether to attempt undistortion.

undistortImage

protected com.googlecode.javacv.cpp.opencv_core.IplImage undistortImage

Undistorted image buffer, allocated on first call to process(com.googlecode.javacv.cpp.opencv_core.IplImage).

Constructor Detail

CvUndistort

public CvUndistort(java.lang.String appname)

Chains to superclass constructor.

CvUndistort

public CvUndistort()

Sets APPNAME.

Method Detail

camIndexOptional

protected boolean camIndexOptional()

Help for the extra command line parameter.

Overrides:

camIndexOptional in class CvBase

cmdHelpExt

protected void cmdHelpExt()

Description copied from class: CvBase

Display extra command line help, for subclasses.

Overrides:

cmdHelpExt in class CvBase

cmdHelpExtParams

protected java.lang.String cmdHelpExtParams()

Shows the extra command line parameter.

Overrides:

cmdHelpExtParams in class CvBase

guiHelpExt

protected void guiHelpExt()

Help for the extra GUI keyboard commands.

Overrides:

guiHelpExt in class CvBase

process

protected com.googlecode.javacv.cpp.opencv_core.IplImage process(com.googlecode.javacv.cpp.opencv_core.IplImage frame)

Applies undistortion if undistort and intrinsics and distortions available.

Overrides:

process in class CvBase

Returns:

the processed image, null will cause image display to be skipped for this frame

handleKeyExt

protected boolean handleKeyExt(int code)

Handle our custom keypresses.

Overrides:

handleKeyExt in class CvBase

release

public void release()

Releases allocated memory.

Overrides:

release in class CvBase

initExt

public int initExt(int argc,
                   java.lang.String[] argv,
                   int ate)

Loads camera calibration if given.

Overrides:

initExt in class CvBase

ate - the number of command line arguments already eaten by CvBase.init(int, String[])

Returns:

the total number of arguments eaten

readMat

public com.googlecode.javacv.cpp.opencv_core.CvMat readMat(com.googlecode.javacv.cpp.opencv_core.CvFileStorage fs,
                                                           java.lang.String name)

Read the named OpenCV matrix from file.

main

public static void main(java.lang.String[] argv)

Program entry point.