jcamcalib.java

camra calibration and you will enjoy it!

/*
 * CalibratorGUI.java
 */

package itesm.gvision.apps.calibrator;

import itesm.gvision.tools.*;
import itesm.gvision.image.tools.*;
import itesm.gvision.image.process.*;
import itesm.gvision.tools.*;
import itesm.gvision.components.*;
import java.awt.*;
import java.awt.image.*;
import java.awt.geom.*;
import javax.swing.*;
import java.io.*;
import java.util.*;
import java.text.*;

//----------------------------------------------------------------------------------
/**
 * Camera calibration utility GUI. Front-end for the OCV calibration library.
 * @author  hugo
 */
public class JCamCalib extends javax.swing.JFrame 
{
	/** Image list */
	private Vector imagesCalib = new Vector();

	/** Image dimensions */
	private int fw, fh;
	
	/** OCV Bridge */
	private CalibratorOCV cocv = new CalibratorOCV();

	/** Distorted image */
	private BufferedImage distorted;
	
	/** Undistorted image */
	private BufferedImage undistorted;

	/** Homography matrices */
	private double homoI2W[], homoW2I[];
	
	/** Homography transform */
	private HomographyTransform homoTrans;
	
	/** Zoom factor for homography point selection */
	private int scaleHomoPoint = 20;
	
	/** Size for subimage area selection */
	private int subImageSize = 20;
	
	/** Homography image projection opertations */
	private HomographyImageProjection hip;

	//----------------------------------------------------------------------------------
	/** Creates new form CalibratorGUI */
	public JCamCalib() 
	{
		initComponents();
		//this.pnlIPCalibrationImage.add(this.cip);
		this.pnlIPCalibrationImages.add(this.cip);
		this.pnlIPUndistortedImage.add(this.cipUndistored);
		this.pnlHMImageReference.add(this.chomoip);
		this.pnlHMTestMode.add(this.chomoipTest);
		this.pnlHMImageProjection.add(this.ips);
	}
	
	//----------------------------------------------------------------------------------
	/** This method is called from within the constructor to
	 * initialize the form.
	 * WARNING: Do NOT modify this code. The content of this method is
	 * always regenerated by the Form Editor.
	 */
    private void initComponents() {//GEN-BEGIN:initComponents
        jTabbedPane1 = new javax.swing.JTabbedPane();
        jPanel1 = new javax.swing.JPanel();
        jSplitPane1 = new javax.swing.JSplitPane();
        jPanel5 = new javax.swing.JPanel();
        jPanel7 = new javax.swing.JPanel();
        jPanel10 = new javax.swing.JPanel();
        btnIPAddFromFile = new javax.swing.JButton();
        btnIPAddFromCamera = new javax.swing.JButton();
        jPanel11 = new javax.swing.JPanel();
        btnIPDel = new javax.swing.JButton();
        jPanel8 = new javax.swing.JPanel();
        jScrollPane1 = new javax.swing.JScrollPane();
        lstImagesCalib = lstImagesCalib = new JList(lstImgsCalib);
        jPanel9 = new javax.swing.JPanel();
        btnIPCompute = new javax.swing.JButton();
        jPanel6 = new javax.swing.JPanel();
        jtpIntCalOptions = new javax.swing.JTabbedPane();
        pnlIPCalibrationImages = new javax.swing.JPanel();
        pnlIPResults = new javax.swing.JPanel();
        jPanel12 = new javax.swing.JPanel();
        eIPMatrix0 = new javax.swing.JTextField();
        eIPMatrix1 = new javax.swing.JTextField();
        eIPMatrix2 = new javax.swing.JTextField();
        eIPMatrix3 = new javax.swing.JTextField();
        eIPMatrix4 = new javax.swing.JTextField();
        eIPMatrix5 = new javax.swing.JTextField();
        eIPMatrix6 = new javax.swing.JTextField();
        eIPMatrix7 = new javax.swing.JTextField();
        eIPMatrix8 = new javax.swing.JTextField();
        jPanel13 = new javax.swing.JPanel();
        jLabel1 = new javax.swing.JLabel();
        eIPDistk1 = new javax.swing.JTextField();
        lblIPDistp1 = new javax.swing.JLabel();
        eIPDistp1 = new javax.swing.JTextField();
        lblIPDistk2 = new javax.swing.JLabel();
        eIPDistk2 = new javax.swing.JTextField();
        jLabel4 = new javax.swing.JLabel();
        eIPDistp2 = new javax.swing.JTextField();
        jPanel16 = new javax.swing.JPanel();
        jPanel17 = new javax.swing.JPanel();
        eIPConfigFmt = new javax.swing.JTextArea();
        btnIP = new javax.swing.JButton();
        jPanel14 = new javax.swing.JPanel();
        pnlIPUndistortedImage = new javax.swing.JPanel();
        jPanel15 = new javax.swing.JPanel();
        btnIPUndistortedLoad = new javax.swing.JButton();
        btnIPUndistortedSaveAs = new javax.swing.JButton();
        btnIPUndist = new javax.swing.JToggleButton();
        jPanel3 = new javax.swing.JPanel();
        jSplitPane2 = new javax.swing.JSplitPane();
        jPanel18 = new javax.swing.JPanel();
        jPanel20 = new javax.swing.JPanel();
        btnHMPointAddMode = new javax.swing.JToggleButton();
        btnHMPointEdit = new javax.swing.JButton();
        btnHMPointDel = new javax.swing.JButton();
        jPanel33 = new javax.swing.JPanel();
        jLabel2 = new javax.swing.JLabel();
        jPanel21 = new javax.swing.JPanel();
        jScrollPane2 = new javax.swing.JScrollPane();
        lstHMPoints = lstHMPoints = new JList(lstHomoPoints);
        jPanel24 = new javax.swing.JPanel();
        btnHMGetMatrix = new javax.swing.JButton();
        jPanel19 = new javax.swing.JPanel();
        jtpHMOptions = new javax.swing.JTabbedPane();
        jPanel25 = new javax.swing.JPanel();
        jPanel22 = new javax.swing.JPanel();
        btnHMLoadUndistorted = new javax.swing.JButton();
        pnlHMImageReference = new javax.swing.JPanel();
        jPanel23 = new javax.swing.JPanel();
        lblHMImgCoordinates = new javax.swing.JLabel();
        jPanel26 = new javax.swing.JPanel();
        jPanel28 = new javax.swing.JPanel();
        eHM0 = new javax.swing.JTextField();
        eHM1 = new javax.swing.JTextField();
        eHM2 = new javax.swing.JTextField();
        eHM3 = new javax.swing.JTextField();
        eHM4 = new javax.swing.JTextField();
        eHM5 = new javax.swing.JTextField();
        eHM6 = new javax.swing.JTextField();
        eHM7 = new javax.swing.JTextField();
        eHM8 = new javax.swing.JTextField();
        jPanel32 = new javax.swing.JPanel();
        eHM_w2i_0 = new javax.swing.JTextField();
        eHM_w2i_1 = new javax.swing.JTextField();
        eHM_w2i_2 = new javax.swing.JTextField();
        eHM_w2i_3 = new javax.swing.JTextField();
        eHM_w2i_4 = new javax.swing.JTextField();
        eHM_w2i_5 = new javax.swing.JTextField();
        eHM_w2i_6 = new javax.swing.JTextField();
        eHM_w2i_7 = new javax.swing.JTextField();
        eHM_w2i_8 = new javax.swing.JTextField();
        jPanel29 = new javax.swing.JPanel();
        jPanel31 = new javax.swing.JPanel();
        eHMConfigFmt = new javax.swing.JTextArea();
        btnHMSaveMatrix = new javax.swing.JButton();
        jPanel30 = new javax.swing.JPanel();
        jPanel27 = new javax.swing.JPanel();
        pnlHMTestMode = new javax.swing.JPanel();
        jPanel35 = new javax.swing.JPanel();
        lblHMTestImagePoint = new javax.swing.JLabel();
        lblHMTestWorldPoint = new javax.swing.JLabel();
        jPanel34 = new javax.swing.JPanel();
        pnlHMImageProjection = new javax.swing.JPanel();
        jPanel37 = new javax.swing.JPanel();
        jPanel36 = new javax.swing.JPanel();
        jLabel6 = new javax.swing.JLabel();
        cbxHMImgProjectionOrigin = new javax.swing.JComboBox();
        jLabel3 = new javax.swing.JLabel();
        eHMImageProjectionScale = new javax.swing.JTextField();
        jLabel5 = new javax.swing.JLabel();
        eHMImgProjectorX1 = new javax.swing.JTextField();
        eHMImgProjectorY1 = new javax.swing.JTextField();
        eHMImgProjectorX2 = new javax.swing.JTextField();
        eHMImgProjectorY2 = new javax.swing.JTextField();
        btnHMImageProjScaleGenerate = new javax.swing.JButton();
        jPanel38 = new javax.swing.JPanel();
        btnHMImageProjScaleApply1 = new javax.swing.JButton();
        jPanel4 = new javax.swing.JPanel();
        jPanel2 = new javax.swing.JPanel();
        jButton1 = new javax.swing.JButton();
        jButton2 = new javax.swing.JButton();

        getContentPane().setLayout(new javax.swing.BoxLayout(getContentPane(), javax.swing.BoxLayout.Y_AXIS));

        setTitle("JCamCalib :: A camera calibration utility");
        addWindowListener(new java.awt.event.WindowAdapter() {
            public void windowClosing(java.awt.event.WindowEvent evt) {
                exitForm(evt);
            }
        });

        jTabbedPane1.setPreferredSize(new java.awt.Dimension(229, 32767));
        jPanel1.setLayout(new java.awt.BorderLayout());

        jPanel5.setLayout(new javax.swing.BoxLayout(jPanel5, javax.swing.BoxLayout.Y_AXIS));

        jPanel10.setBorder(new javax.swing.border.TitledBorder("Add image from:"));
        btnIPAddFromFile.setText("File...");
        btnIPAddFromFile.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                btnIPAddFromFileActionPerformed(evt);
            }
        });

        jPanel10.add(btnIPAddFromFile);

        btnIPAddFromCamera.setText("Camera");
        btnIPAddFromCamera.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                btnIPAddFromCameraActionPerformed(evt);
            }
        });

        jPanel10.add(btnIPAddFromCamera);

        jPanel7.add(jPanel10);

        jPanel11.setBorder(new javax.swing.border.TitledBorder("Selection:"));
        btnIPDel.setText("Delete");
        btnIPDel.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                btnIPDelActionPerformed(evt);
            }
        });

        jPanel11.add(btnIPDel);

        jPanel7.add(jPanel11);

        jPanel5.add(jPanel7);

        jPanel8.setLayout(new java.awt.BorderLayout());

        lstImagesCalib.setSelectionMode(javax.swing.ListSelectionModel.SINGLE_SELECTION);
        lstImagesCalib.addListSelectionListener(new javax.swing.event.ListSelectionListener() {
            public void valueChanged(javax.swing.event.ListSelectionEvent evt) {
                lstImagesCalibValueChanged(evt);
            }
        });

        jScrollPane1.setViewportView(lstImagesCalib);

        jPanel8.add(jScrollPane1, java.awt.BorderLayout.CENTER);

        jPanel5.add(jPanel8);

        btnIPCompute.setForeground(new java.awt.Color(255, 0, 0));
        btnIPCompute.setText("Calibrate");
        btnIPCompute.addActionListener(new java.awt.event.ActionListener() {
            public void actionPerformed(java.awt.event.ActionEvent evt) {
                btnIPComputeActionPerformed(evt);
            }
        });

        jPanel9.add(btnIPCompute);

        jPanel5.add(jPanel9);

        jSplitPane1.setLeftComponent(jPanel5);

        jPanel6.setLayout(new java.awt.BorderLayout());

        jtpIntCalOptions.setTabPlacement(javax.swing.JTabbedPane.BOTTOM);
        pnlIPCalibrationImages.setLayout(new java.awt.BorderLayout());

        jtpIntCalOptions.addTab("Calibration images", pnlIPCalibrationImages);

        pnlIPResults.setLayout(new javax.swing.BoxLayout(pnlIPResults, javax.swing.BoxLayout.Y_AXIS));

        jPanel12.setLayout(new java.awt.GridLayout(3, 3, 3, 3));

        jPanel12.setBorder(new javax.swing.border.TitledBorder("Intrinsic parameters"));
        eIPMatrix0.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        eIPMatrix0.setToolTipText("fx");
        jPanel12.add(eIPMatrix0);

        eIPMatrix1.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel12.add(eIPMatrix1);

        eIPMatrix2.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        eIPMatrix2.setToolTipText("cx");
        jPanel12.add(eIPMatrix2);

        eIPMatrix3.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel12.add(eIPMatrix3);

        eIPMatrix4.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        eIPMatrix4.setToolTipText("fy");
        jPanel12.add(eIPMatrix4);

        eIPMatrix5.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        eIPMatrix5.setToolTipText("cy");
        jPanel12.add(eIPMatrix5);

        eIPMatrix6.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel12.add(eIPMatrix6);

        eIPMatrix7.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel12.add(eIPMatrix7);

        eIPMatrix8.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel12.add(eIPMatrix8);

        pnlIPResults.add(jPanel12);

        jPanel13.setLayout(new java.awt.GridLayout(2, 4, 3, 3));

        jPanel13.setBorder(new javax.swing.border.TitledBorder("Distortion coefficients"));
        jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.RIGHT);
        jLabel1.setText("k1 =");
        jPanel13.add(jLabel1);

        eIPDistk1.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel13.add(eIPDistk1);

        lblIPDistp1.setHorizontalAlignment(javax.swing.SwingConstants.RIGHT);
        lblIPDistp1.setText("p1 =");
        jPanel13.add(lblIPDistp1);

        eIPDistp1.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel13.add(eIPDistp1);

        lblIPDistk2.setHorizontalAlignment(javax.swing.SwingConstants.RIGHT);
        lblIPDistk2.setText("k2 =");
        jPanel13.add(lblIPDistk2);

        eIPDistk2.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
        jPanel13.add(eIPDistk2);