Image Stitching for NVIDIA Jetson - Examples - Undistort Pipelines
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Lens distortion correction can be applied to the stitcher with the undistort element, this page shows some basic usage examples, to learn more about the element and how to calibrate it, visit this page
Once the calibration tool is executed you will have a CAMERA_MATRIX and DISTORTION_PARAMETERS for each camera.
Capture to Display
This examples showcases the basic use of the undistort element.
CAMERA_MATRIX="{\"fx\":2.8472876737532920e+03, \"fy\":2.8608529052506838e+03, \"cx\":9.7983673800322515e+02, \"cy\":5.0423299551699932e+02}"
DISTORTION_PARAMETERS="{\"k1\":-6.7260720359999060e-01, \"k2\":2.5160831522455513e+00, \"p1\":5.4007310542765141e-02, \"p2\":-1.1365265232659062e-02, \"k3\":-1.2760075297700798e+01 }"
gst-launch-1.0 nvarguscamerasrc ! cudaundistort distortion-model=brown-conrady camera-matrix=$CAMERA_MATRIX distortion-parameters=$DISTORTION_PARAMETERS ! nvoverlaysink
Camera stitching with undistort element
This comprises of a system with both undistortion and stitching for three camera inputs.
OUTVIDEO=/tmp/stitching_result.mp4
CAMERA_MATRIX_1="{\"fx\":2.8472876737532920e+03, \"fy\":2.8608529052506838e+03, \"cx\":9.7983673800322515e+02, \"cy\":5.0423299551699932e+02}"
DISTORTION_PARAMETERS_1="{\"k1\":-6.7260720359999060e-01, \"k2\":2.5160831522455513e+00, \"p1\":5.4007310542765141e-02, \"p2\":-1.1365265232659062e-02, \"k3\":-1.2760075297700798e+01 }"
CAMERA_MATRIX_2="{\"fx\":2.8472876737532920e+03, \"fy\":2.8608529052506838e+03, \"cx\":9.7983673800322515e+02, \"cy\":5.0423299551699932e+02}"
DISTORTION_PARAMETERS_2="{\"k1\":-6.7260720359999060e-01, \"k2\":2.5160831522455513e+00, \"p1\":5.4007310542765141e-02, \"p2\":-1.1365265232659062e-02, \"k3\":-1.2760075297700798e+01 }"
CAMERA_MATRIX_3="{\"fx\":2.8472876737532920e+03, \"fy\":2.8608529052506838e+03, \"cx\":9.7983673800322515e+02, \"cy\":5.0423299551699932e+02}"
DISTORTION_PARAMETERS_3="{\"k1\":-6.7260720359999060e-01, \"k2\":2.5160831522455513e+00, \"p1\":5.4007310542765141e-02, \"p2\":-1.1365265232659062e-02, \"k3\":-1.2760075297700798e+01 }"
gst-launch-1.0 -e cudastitcher name=stitcher \
homography-list="`cat homographies.json | tr -d "\n" | tr -d " "`" \
border-width=$BORDER_WIDTH \
nvarguscamerasrc maxperf=true sensor-id=0 ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=1080" ! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX_1" distortion-parameters="$DISTORTION_PARAMETERS_1" ! nvvidconv ! "video/x-raw(memory:NVMM), width=640, height=360" ! queue ! stitcher.sink_0 \
nvarguscamerasrc maxperf=true sensor-id=1 ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=1080" ! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX_2" distortion-parameters="$DISTORTION_PARAMETERS_2" ! nvvidconv ! "video/x-raw(memory:NVMM), width=640, height=360" ! queue ! stitcher.sink_1 \
nvarguscamerasrc maxperf=true sensor-id=2 ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=1080" ! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX_3" distortion-parameters="$DISTORTION_PARAMETERS_3" ! nvvidconv ! "video/x-raw(memory:NVMM), width=640, height=360" ! queue ! stitcher.sink_2 \
stitcher. ! perf print-arm-load=true ! queue ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=360" ! nvv4l2h264enc bitrate=20000000 ! h264parse ! mpegtsmux ! filesink location=$OUTVIDEO