jcamcalib.java

camra calibration and you will enjoy it!

	private void lstHMPointsValueChanged(javax.swing.event.ListSelectionEvent evt) {//GEN-FIRST:event_lstHMPointsValueChanged
		// Add your handling code here:
		this.chomoip.setSelectedPoint(this.lstHMPoints.getSelectedIndex());
	}//GEN-LAST:event_lstHMPointsValueChanged

	//----------------------------------------------------------------------------------
	private void btnHMLoadUndistortedActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnHMLoadUndistortedActionPerformed
		// Add your handling code here:
		String complete = "";
		jfci.setDialogTitle("Select undistorted reference image...");
		if (jfci.showOpenDialog(this) == JFileChooser.APPROVE_OPTION){
			complete = jfci.getSelectedFile().getParent() + File.separatorChar + jfci.getSelectedFile().getName();
			BufferedImage magic = ImageTools.convertGrayScaletoRGB(JPEGFileManager.openFile(complete));
			this.chomoip.setImage(magic);
			this.fw = magic.getWidth();
			this.fh = magic.getHeight();
		}
	}//GEN-LAST:event_btnHMLoadUndistortedActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPActionPerformed
		// Add your handling code here:
		JFileChooser jfc = new JFileChooser();
		String complete = "";
		jfc.setDialogTitle("Save parameters as...");
		if (jfc.showSaveDialog(this) == JFileChooser.APPROVE_OPTION){
			complete = jfc.getSelectedFile().getParent() + File.separatorChar + jfc.getSelectedFile().getName();
			try{
				FileWriter fw = new FileWriter(complete, false);
				fw.write(this.eIPConfigFmt.getText());
				fw.close();
			}
			catch (Exception e){
				System.out.println("btnIPActionPerformed : Error saving the file: " + complete);
				e.printStackTrace();
			}
		}
	}//GEN-LAST:event_btnIPActionPerformed

	//----------------------------------------------------------------------------------
	private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed
		// Add your handling code here:
		JOptionPane.showMessageDialog(this, "This program is free software (GPL).\nUses Intel Open Computer Vision Library (OpenCV).\n\n(2004) Hugo Ortega H. [e-mail]\nUtility for my thesis: \"Visual Tracking of Multiple Objects \nwith Mobile Camera in Dynamic Environments\"", "JCamCalib v0.7: A camera Calibration Utility", JOptionPane.INFORMATION_MESSAGE);
	}//GEN-LAST:event_jButton1ActionPerformed

	//----------------------------------------------------------------------------------
	private void jButton2ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton2ActionPerformed
		// Add your handling code here:
		System.exit(0);
	}//GEN-LAST:event_jButton2ActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPUndistActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPUndistActionPerformed
		// Add your handling code here:
		if (this.btnIPUndist.isSelected()){
			this.cipUndistored.setImage(this.undistorted);
		}
		else{
			this.cipUndistored.setImage(this.distorted);
		}
	}//GEN-LAST:event_btnIPUndistActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPUndistortedSaveAsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPUndistortedSaveAsActionPerformed
		// Add your handling code here:
		String complete = "";
		jfci.setDialogTitle("Save undistorted image as...");
		if (jfci.showSaveDialog(this) == JFileChooser.APPROVE_OPTION){
			complete = jfci.getSelectedFile().getParent() + File.separatorChar + jfci.getSelectedFile().getName();
			JPEGFileManager.saveFile(this.undistorted, complete, 100);
		}
	}//GEN-LAST:event_btnIPUndistortedSaveAsActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPUndistortedLoadActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPUndistortedLoadActionPerformed
		// Add your handling code here:
		String complete = "";
		jfci.setDialogTitle("Select distorted image...");
		if (jfci.showOpenDialog(this) == JFileChooser.APPROVE_OPTION){
			complete = jfci.getSelectedFile().getParent() + File.separatorChar + jfci.getSelectedFile().getName();
			BufferedImage magic = ImageTools.convertGrayScaletoRGB(JPEGFileManager.openFile(complete));
			BufferedImage undist = ImageTools.getBufferedImage(this.cocv.getUndistortedImage(ImageTools.getImageDataRGB(magic), magic.getWidth(), magic.getHeight()), magic.getWidth(), magic.getHeight());
			this.cipUndistored.setImage(undist);
			this.btnIPUndist.setSelected(true);
			this.undistorted = undist;
			this.distorted = magic;
		}
	}//GEN-LAST:event_btnIPUndistortedLoadActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPComputeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPComputeActionPerformed
		// Add your handling code here:
		for(int i=0; i<this.imagesCalib.size(); i++){
			BufferedImage magic = (BufferedImage)this.imagesCalib.get(i);
			this.cocv.addCalibrationImage(ImageTools.getImageDataRGB(magic), magic.getWidth(), magic.getHeight());
		}
		if (!this.cocv.calibrate()){
			JOptionPane.showMessageDialog(this, "Error in calibration. Try other images please.", "ERROR", JOptionPane.ERROR_MESSAGE);
		}
		else{
			double res[] = this.cocv.getResults();
			//for (int j=0; j<res.length; j++) System.out.println(res[j]);
			this.eIPMatrix0.setText(Double.toString(res[0]));
			this.eIPMatrix1.setText(Double.toString(res[1]));
			this.eIPMatrix2.setText(Double.toString(res[2]));
			this.eIPMatrix3.setText(Double.toString(res[3]));
			this.eIPMatrix4.setText(Double.toString(res[4]));
			this.eIPMatrix5.setText(Double.toString(res[5]));
			this.eIPMatrix6.setText(Double.toString(res[6]));
			this.eIPMatrix7.setText(Double.toString(res[7]));
			this.eIPMatrix8.setText(Double.toString(res[8]));
			this.eIPDistk1.setText(Double.toString(res[9]));
			this.eIPDistk2.setText(Double.toString(res[10]));
			this.eIPDistp1.setText(Double.toString(res[11]));
			this.eIPDistp2.setText(Double.toString(res[12]));
			this.jtpIntCalOptions.setSelectedIndex(1);
			this.eIPConfigFmt.setText("");
			String txt = "CAMERA_INTRINSICS = ";
			for(int i=0; i<9; i++) txt += res[i] + " ";
			txt += "\nCAMERA_LENS_DIST = ";
			for(int i=9; i<13; i++) txt += res[i] + " ";
			
			this.eIPConfigFmt.setText(txt);
		}
	}//GEN-LAST:event_btnIPComputeActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPDelActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPDelActionPerformed
		// Add your handling code here:
		if (this.lstImgsCalib.size() > 0){
			int idx = this.lstImagesCalib.getSelectedIndex();
			this.lstImgsCalib.remove(idx);
			this.imagesCalib.remove(idx);
			if (this.lstImgsCalib.size() > 0) this.lstImagesCalib.setSelectedIndex(this.lstImgsCalib.size()-1);
		}
	}//GEN-LAST:event_btnIPDelActionPerformed

	//----------------------------------------------------------------------------------
	private void lstImagesCalibValueChanged(javax.swing.event.ListSelectionEvent evt) {//GEN-FIRST:event_lstImagesCalibValueChanged
		// Add your handling code here:
		if (this.lstImgsCalib.size() > 0 && this.lstImagesCalib.getSelectedIndex() >= 0){
			if (this.jtpIntCalOptions.getSelectedIndex() != 0) this.jtpIntCalOptions.setSelectedIndex(0);
			BufferedImage magic = (BufferedImage)this.imagesCalib.get(this.lstImagesCalib.getSelectedIndex());
			this.cip.clearPoints();
			this.cip.setImage(magic);
			double pnts[] = this.cocv.findCorners(ImageTools.getImageDataRGB(magic), fw,  fh);
			if (pnts == null){
				JOptionPane.showMessageDialog(this, "Chessboard pattern was not detected in this image. Try increasing contrast of image and reduce the brightness.");
				return;
			}
			else if (pnts.length != 96){
				JOptionPane.showMessageDialog(this, "Not all points in the chessboard pattern were detected in this image. Try to use an image with better illumination or resolution please.", "ERROR", JOptionPane.ERROR_MESSAGE);
			}

			for (int i=0; i<pnts.length; i+=2){
				this.cip.addPoint((int)Math.round(pnts[i]), (int)Math.round(pnts[i+1]));
			}
			this.cip.repaint();
		}
	}//GEN-LAST:event_lstImagesCalibValueChanged

	//----------------------------------------------------------------------------------
	private void btnIPAddFromCameraActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPAddFromCameraActionPerformed
		// Add your handling code here:
	}//GEN-LAST:event_btnIPAddFromCameraActionPerformed

	//----------------------------------------------------------------------------------
	private void btnIPAddFromFileActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_btnIPAddFromFileActionPerformed
		// Add your handling code here:
		String complete = "";
		jfci.setDialogTitle("Select a calibration image...");
		if (jfci.showOpenDialog(this) == JFileChooser.APPROVE_OPTION){
			complete = jfci.getSelectedFile().getParent() + File.separatorChar + jfci.getSelectedFile().getName();
			BufferedImage magic = ImageTools.convertGrayScaletoRGB(JPEGFileManager.openFile(complete));
			//this.pnlIPCalibrationImage.setSize(magic.getWidth(), magic.getHeight());
			if (this.imagesCalib.size() == 0){
				this.fw = magic.getWidth();
				this.fh = magic.getHeight();
			}
			if (magic.getWidth() != this.fw || magic.getHeight() != this.fh){
				JOptionPane.showMessageDialog(this, "Image is not valid: should be same size of the first one (" + this.fw + "x" + this.fh + ")", "ERROR", JOptionPane.ERROR_MESSAGE);
			}
			else{
				this.imagesCalib.add(magic);
				this.lstImgsCalib.addElement(complete);
				this.lstImagesCalib.setSelectedIndex(this.lstImgsCalib.size()-1);
			}
		}
	}//GEN-LAST:event_btnIPAddFromFileActionPerformed
	
	//----------------------------------------------------------------------------------
	/** Exit the Application */
	private void exitForm(java.awt.event.WindowEvent evt) {//GEN-FIRST:event_exitForm
		System.exit(0);
	}//GEN-LAST:event_exitForm

	//----------------------------------------------------------------------------------
	/**
	 * @param args the command line arguments
	 */
	public static void main(String args[]) {
		try {
			UIManager.setLookAndFeel("ch.randelshofer.quaqua.QuaquaLookAndFeel");
		}
		catch (Exception e){
			System.out.println("Unable to load Look and Feel... using default Metal.");
		}		
		new JCamCalib().show();
	}
	
	
    // Variables declaration - do not modify//GEN-BEGIN:variables
    private javax.swing.JButton btnHMGetMatrix;
    private javax.swing.JButton btnHMImageProjScaleApply1;
    private javax.swing.JButton btnHMImageProjScaleGenerate;
    private javax.swing.JButton btnHMLoadUndistorted;
    private javax.swing.JToggleButton btnHMPointAddMode;
    private javax.swing.JButton btnHMPointDel;
    private javax.swing.JButton btnHMPointEdit;
    private javax.swing.JButton btnHMSaveMatrix;
    private javax.swing.JButton btnIP;
    private javax.swing.JButton btnIPAddFromCamera;
    private javax.swing.JButton btnIPAddFromFile;
    private javax.swing.JButton btnIPCompute;
    private javax.swing.JButton btnIPDel;
    private javax.swing.JToggleButton btnIPUndist;
    private javax.swing.JButton btnIPUndistortedLoad;
    private javax.swing.JButton btnIPUndistortedSaveAs;
    private javax.swing.JComboBox cbxHMImgProjectionOrigin;
    private javax.swing.JTextField eHM0;
    private javax.swing.JTextField eHM1;
    private javax.swing.JTextField eHM2;
    private javax.swing.JTextField eHM3;
    private javax.swing.JTextField eHM4;
    private javax.swing.JTextField eHM5;
    private javax.swing.JTextField eHM6;
    private javax.swing.JTextField eHM7;
    private javax.swing.JTextField eHM8;
    private javax.swing.JTextArea eHMConfigFmt;
    private javax.swing.JTextField eHMImageProjectionScale;
    private javax.swing.JTextField eHMImgProjectorX1;
    private javax.swing.JTextField eHMImgProjectorX2;
    private javax.swing.JTextField eHMImgProjectorY1;
    private javax.swing.JTextField eHMImgProjectorY2;
    private javax.swing.JTextField eHM_w2i_0;
    private javax.swing.JTextField eHM_w2i_1;
    private javax.swing.JTextField eHM_w2i_2;
    private javax.swing.JTextField eHM_w2i_3;
    private javax.swing.JTextField eHM_w2i_4;
    private javax.swing.JTextField eHM_w2i_5;
    private javax.swing.JTextField eHM_w2i_6;
    private javax.swing.JTextField eHM_w2i_7;
    private javax.swing.JTextField eHM_w2i_8;
    private javax.swing.JTextArea eIPConfigFmt;
    private javax.swing.JTextField eIPDistk1;
    private javax.swing.JTextField eIPDistk2;
    private javax.swing.JTextField eIPDistp1;
    private javax.swing.JTextField eIPDistp2;
    private javax.swing.JTextField eIPMatrix0;
    private javax.swing.JTextField eIPMatrix1;
    private javax.swing.JTextField eIPMatrix2;
    private javax.swing.JTextField eIPMatrix3;
    private javax.swing.JTextField eIPMatrix4;
    private javax.swing.JTextField eIPMatrix5;
    private javax.swing.JTextField eIPMatrix6;
    private javax.swing.JTextField eIPMatrix7;
    private javax.swing.JTextField eIPMatrix8;
    private javax.swing.JButton jButton1;
    private javax.swing.JButton jButton2;
    private javax.swing.JLabel jLabel1;
    private javax.swing.JLabel jLabel2;
    private javax.swing.JLabel jLabel3;
    private javax.swing.JLabel jLabel4;
    private javax.swing.JLabel jLabel5;
    private javax.swing.JLabel jLabel6;
    private javax.swing.JPanel jPanel1;
    private javax.swing.JPanel jPanel10;
    private javax.swing.JPanel jPanel11;
    private javax.swing.JPanel jPanel12;
    private javax.swing.JPanel jPanel13;
    private javax.swing.JPanel jPanel14;
    private javax.swing.JPanel jPanel15;
    private javax.swing.JPanel jPanel16;
    private javax.swing.JPanel jPanel17;
    private javax.swing.JPanel jPanel18;
    private javax.swing.JPanel jPanel19;
    private javax.swing.JPanel jPanel2;
    private javax.swing.JPanel jPanel20;
    private javax.swing.JPanel jPanel21;
    private javax.swing.JPanel jPanel22;
    private javax.swing.JPanel jPanel23;
    private javax.swing.JPanel jPanel24;
    private javax.swing.JPanel jPanel25;
    private javax.swing.JPanel jPanel26;
    private javax.swing.JPanel jPanel27;
    private javax.swing.JPanel jPanel28;
    private javax.swing.JPanel jPanel29;
    private javax.swing.JPanel jPanel3;
    private javax.swing.JPanel jPanel30;
    private javax.swing.JPanel jPanel31;
    private javax.swing.JPanel jPanel32;
    private javax.swing.JPanel jPanel33;
    private javax.swing.JPanel jPanel34;
    private javax.swing.JPanel jPanel35;
    private javax.swing.JPanel jPanel36;
    private javax.swing.JPanel jPanel37;
    private javax.swing.JPanel jPanel38;
    private javax.swing.JPanel jPanel4;
    private javax.swing.JPanel jPanel5;
    private javax.swing.JPanel jPanel6;
    private javax.swing.JPanel jPanel7;
    private javax.swing.JPanel jPanel8;
    private javax.swing.JPanel jPanel9;
    private javax.swing.JScrollPane jScrollPane1;
    private javax.swing.JScrollPane jScrollPane2;
    private javax.swing.JSplitPane jSplitPane1;
    private javax.swing.JSplitPane jSplitPane2;
    private javax.swing.JTabbedPane jTabbedPane1;
    private javax.swing.JTabbedPane jtpHMOptions;
    private javax.swing.JTabbedPane jtpIntCalOptions;
    private javax.swing.JLabel lblHMImgCoordinates;
    private javax.swing.JLabel lblHMTestImagePoint;
    private javax.swing.JLabel lblHMTestWorldPoint;
    private javax.swing.JLabel lblIPDistk2;
    private javax.swing.JLabel lblIPDistp1;
    private javax.swing.JList lstHMPoints;
    private javax.swing.JList lstImagesCalib;
    private javax.swing.JPanel pnlHMImageProjection;
    private javax.swing.JPanel pnlHMImageReference;
    private javax.swing.JPanel pnlHMTestMode;
    private javax.swing.JPanel pnlIPCalibrationImages;
    private javax.swing.JPanel pnlIPResults;
    private javax.swing.JPanel pnlIPUndistortedImage;
    // End of variables declaration//GEN-END:variables
	private DefaultListModel lstImgsCalib = new DefaultListModel();
	private DefaultListModel lstHomoPoints = new DefaultListModel();
	private FileChooserImage jfci = new FileChooserImage();
	private CalibratorImagePanel cip = new CalibratorImagePanel();
	private CalibratorImagePanel cipUndistored = new CalibratorImagePanel();
	private CalibratorHomographyImagePanel chomoip = new CalibratorHomographyImagePanel();
	private CalibratorHomographyImagePanel chomoipTest = new CalibratorHomographyImagePanel();
	private ImagePanelScroller ips = new ImagePanelScroller();
}