Examples with Estimate1ofPnP boofcv.abst.geo.Estimate1ofPnP used on opensource projects

Example 1 with Estimate1ofPnP

use of boofcv.abst.geo.Estimate1ofPnP in project BoofCV by lessthanoptimal.

the class FactoryVisualOdometry method stereoDepth.

/**
 * Stereo vision based visual odometry algorithm which runs a sparse feature tracker in the left camera and
 * estimates the range of tracks once when first detected using disparity between left and right cameras.
 *
 * @see VisOdomPixelDepthPnP
 *
 * @param thresholdAdd Add new tracks when less than this number are in the inlier set.  Tracker dependent. Set to
 *                     a value ≤ 0 to add features every frame.
 * @param thresholdRetire Discard a track if it is not in the inlier set after this many updates.  Try 2
 * @param sparseDisparity Estimates the 3D location of features
 * @param imageType Type of image being processed.
 * @return StereoVisualOdometry
 */
public static <T extends ImageGray<T>> StereoVisualOdometry<T> stereoDepth(double inlierPixelTol, int thresholdAdd, int thresholdRetire, int ransacIterations, int refineIterations, boolean doublePass, StereoDisparitySparse<T> sparseDisparity, PointTrackerTwoPass<T> tracker, Class<T> imageType) {
    // Range from sparse disparity
    StereoSparse3D<T> pixelTo3D = new StereoSparse3D<>(sparseDisparity, imageType);
    Estimate1ofPnP estimator = FactoryMultiView.computePnP_1(EnumPNP.P3P_FINSTERWALDER, -1, 2);
    final DistanceModelMonoPixels<Se3_F64, Point2D3D> distance = new PnPDistanceReprojectionSq();
    ModelManagerSe3_F64 manager = new ModelManagerSe3_F64();
    EstimatorToGenerator<Se3_F64, Point2D3D> generator = new EstimatorToGenerator<>(estimator);
    // 1/2 a pixel tolerance for RANSAC inliers
    double ransacTOL = inlierPixelTol * inlierPixelTol;
    ModelMatcher<Se3_F64, Point2D3D> motion = new Ransac<>(2323, manager, generator, distance, ransacIterations, ransacTOL);
    RefinePnP refine = null;
    if (refineIterations > 0) {
        refine = FactoryMultiView.refinePnP(1e-12, refineIterations);
    }
    VisOdomPixelDepthPnP<T> alg = new VisOdomPixelDepthPnP<>(thresholdAdd, thresholdRetire, doublePass, motion, pixelTo3D, refine, tracker, null, null);
    return new WrapVisOdomPixelDepthPnP<>(alg, pixelTo3D, distance, imageType);
}

Example 2 with Estimate1ofPnP

use of boofcv.abst.geo.Estimate1ofPnP in project BoofCV by lessthanoptimal.

the class ExamplePnP method estimateNoOutliers.

/**
 * Assumes all observations actually match the correct/real 3D point
 */
public Se3_F64 estimateNoOutliers(List<Point2D3D> observations) {
    // Compute a single solution using EPNP
    // 10 iterations is what JavaDoc recommends, but might need to be tuned.
    // 0 test points.  This parameters is actually ignored because EPNP only returns a single solution
    Estimate1ofPnP pnp = FactoryMultiView.computePnP_1(EnumPNP.EPNP, 10, 0);
    Se3_F64 worldToCamera = new Se3_F64();
    pnp.process(observations, worldToCamera);
    // For some applications the EPNP solution might be good enough, but let's refine it
    RefinePnP refine = FactoryMultiView.refinePnP(1e-8, 200);
    Se3_F64 refinedWorldToCamera = new Se3_F64();
    if (!refine.fitModel(observations, worldToCamera, refinedWorldToCamera))
        throw new RuntimeException("Refined failed! Input probably bad...");
    return refinedWorldToCamera;
}

Example 3 with Estimate1ofPnP

use of boofcv.abst.geo.Estimate1ofPnP in project BoofCV by lessthanoptimal.

the class BenchmarkRuntimePose method runAll.

public void runAll() {
    System.out.println("=========  Profile numFeatures " + NUM_POINTS);
    System.out.println();
    init(NUM_POINTS, FUNDAMENTAL, false);
    Estimate1ofPnP grunert = FactoryMultiView.computePnP_1(EnumPNP.P3P_GRUNERT, -1, 1);
    Estimate1ofPnP finster = FactoryMultiView.computePnP_1(EnumPNP.P3P_FINSTERWALDER, -1, 1);
    ProfileOperation.printOpsPerSec(new EPnP(0), TEST_TIME);
    ProfileOperation.printOpsPerSec(new EPnP(5), TEST_TIME);
    // ProfileOperation.printOpsPerSec(new PairLinear(), TEST_TIME);
    ProfileOperation.printOpsPerSec(new InterfacePNP("grunert", grunert), TEST_TIME);
    ProfileOperation.printOpsPerSec(new InterfacePNP("finster", finster), TEST_TIME);
    System.out.println();
    System.out.println("Done");
}

Example 4 with Estimate1ofPnP

use of boofcv.abst.geo.Estimate1ofPnP in project MAVSlam by ecmnet.

the class FactoryMAVOdometry method depthDepthPnP.

/**
 * Depth sensor based visual odometry algorithm which runs a sparse feature tracker in the visual camera and
 * estimates the range of tracks once when first detected using the depth sensor.
 *
 * @see MAVOdomPixelDepthPnP
 *
 * @param thresholdAdd Add new tracks when less than this number are in the inlier set.  Tracker dependent. Set to
 *                     a value ≤ 0 to add features every frame.
 * @param thresholdRetire Discard a track if it is not in the inlier set after this many updates.  Try 2
 * @param sparseDepth Extracts depth of pixels from a depth sensor.
 * @param visualType Type of visual image being processed.
 * @param depthType Type of depth image being processed.
 * @return StereoVisualOdometry
 */
public static <Vis extends ImageGray, Depth extends ImageGray> MAVDepthVisualOdometry<Vis, Depth> depthDepthPnP(double inlierPixelTol, int thresholdAdd, int thresholdRetire, int ransacIterations, int refineIterations, boolean doublePass, DepthSparse3D<Depth> sparseDepth, PointTrackerTwoPass<Vis> tracker, Class<Vis> visualType, Class<Depth> depthType) {
    // Range from sparse disparity
    ImagePixelTo3D pixelTo3D = new DepthSparse3D_to_PixelTo3D<Depth>(sparseDepth);
    Estimate1ofPnP estimator = FactoryMultiView.computePnP_1(EnumPNP.P3P_FINSTERWALDER, -1, 2);
    final DistanceModelMonoPixels<Se3_F64, Point2D3D> distance = new PnPDistanceReprojectionSq();
    ModelManagerSe3_F64 manager = new ModelManagerSe3_F64();
    EstimatorToGenerator<Se3_F64, Point2D3D> generator = new EstimatorToGenerator<Se3_F64, Point2D3D>(estimator);
    // 1/2 a pixel tolerance for RANSAC inliers
    double ransacTOL = inlierPixelTol * inlierPixelTol;
    ModelMatcher<Se3_F64, Point2D3D> motion = new Ransac<Se3_F64, Point2D3D>(2323, manager, generator, distance, ransacIterations, ransacTOL);
    RefinePnP refine = null;
    if (refineIterations > 0) {
        refine = FactoryMultiView.refinePnP(1e-12, refineIterations);
    }
    MAVOdomPixelDepthPnP<Vis> alg = new MAVOdomPixelDepthPnP<Vis>(thresholdAdd, thresholdRetire, doublePass, motion, pixelTo3D, refine, tracker, null, null);
    return new MAVOdomPixelDepthPnP_to_DepthVisualOdometry<Vis, Depth>(sparseDepth, alg, distance, ImageType.single(visualType), depthType);
}

Example 5 with Estimate1ofPnP

use of boofcv.abst.geo.Estimate1ofPnP in project BoofCV by lessthanoptimal.

the class FactoryMultiViewRobust method pnpLMedS.

/**
 * Robust solution to PnP problem using {@link LeastMedianOfSquares LMedS}.  Input observations are
 * in normalized image coordinates.
 *
 * <ul>
 *     <li>Input observations are in normalized image coordinates NOT pixels</li>
 *     <li>Error units are pixels squared.</li>
 * </ul>
 *
 * <p>See code for all the details.</p>
 *
 * @param configPnP PnP parameters.  Can't be null.
 * @param configLMedS Parameters for LMedS.  Can't be null.
 * @return Robust Se3_F64 estimator
 */
public static LeastMedianOfSquares<Se3_F64, Point2D3D> pnpLMedS(ConfigPnP configPnP, ConfigLMedS configLMedS) {
    configPnP.checkValidity();
    configLMedS.checkValidity();
    Estimate1ofPnP estimatorPnP = FactoryMultiView.computePnP_1(configPnP.which, configPnP.epnpIterations, configPnP.numResolve);
    DistanceModelMonoPixels<Se3_F64, Point2D3D> distance = new PnPDistanceReprojectionSq();
    distance.setIntrinsic(configPnP.intrinsic.fx, configPnP.intrinsic.fy, configPnP.intrinsic.skew);
    ModelManagerSe3_F64 manager = new ModelManagerSe3_F64();
    EstimatorToGenerator<Se3_F64, Point2D3D> generator = new EstimatorToGenerator<>(estimatorPnP);
    LeastMedianOfSquares<Se3_F64, Point2D3D> lmeds = new LeastMedianOfSquares<>(configLMedS.randSeed, configLMedS.totalCycles, manager, generator, distance);
    lmeds.setErrorFraction(configLMedS.errorFraction);
    return lmeds;
}