Examples with SceneStructureMetric boofcv.abst.geo.bundle.SceneStructureMetric used on opensource projects

Example 41 with SceneStructureMetric

use of boofcv.abst.geo.bundle.SceneStructureMetric in project BoofCV by lessthanoptimal.

the class TestBundleAdjustmentMetricResidualFunction method createObservations.

static SceneObservations createObservations(Random rand, SceneStructureMetric structure) {
    SceneObservations obs = new SceneObservations();
    obs.initialize(structure.views.size, structure.hasRigid());
    for (int j = 0; j < structure.points.size; j++) {
        SceneStructureCommon.Point p = structure.points.data[j];
        for (int i = 0; i < p.views.size; i++) {
            SceneObservations.View v = obs.getView(p.views.get(i));
            v.point.add(j);
            v.observations.add(rand.nextInt(300) + 20);
            v.observations.add(rand.nextInt(300) + 20);
        }
    }
    if (structure.hasRigid()) {
        for (int indexRigid = 0; indexRigid < structure.rigids.size; indexRigid++) {
            SceneStructureMetric.Rigid r = structure.rigids.data[indexRigid];
            for (int i = 0; i < r.points.length; i++) {
                SceneStructureCommon.Point p = r.points[i];
                int indexPoint = r.indexFirst + i;
                for (int j = 0; j < p.views.size; j++) {
                    SceneObservations.View v = obs.getViewRigid(p.views.get(j));
                    v.point.add(indexPoint);
                    v.observations.add(rand.nextInt(300) + 20);
                    v.observations.add(rand.nextInt(300) + 20);
                }
            }
        }
    }
    return obs;
}

Example 42 with SceneStructureMetric

use of boofcv.abst.geo.bundle.SceneStructureMetric in project BoofCV by lessthanoptimal.

the class TestBundleAdjustmentMetricResidualFunction method multipleCalls.

void multipleCalls(boolean homogenous, boolean hasRigid, boolean hasRelative) {
    SceneStructureMetric structure = createScene(rand, homogenous, hasRigid, hasRelative);
    SceneObservations obs = createObservations(rand, structure);
    double[] param = new double[structure.getParameterCount()];
    new CodecSceneStructureMetric().encode(structure, param);
    BundleAdjustmentMetricResidualFunction alg = new BundleAdjustmentMetricResidualFunction();
    alg.configure(structure, obs);
    double[] expected = new double[alg.getNumOfOutputsM()];
    double[] found = new double[alg.getNumOfOutputsM()];
    alg.process(param, expected);
    alg.process(param, found);
    assertArrayEquals(expected, found, UtilEjml.TEST_F64);
}

Example 43 with SceneStructureMetric

use of boofcv.abst.geo.bundle.SceneStructureMetric in project BoofCV by lessthanoptimal.

the class TestMultiBaselineStereoIndependent method simulate_constant_disparity.

/**
 * The plane being viewed and the camera's image plane are parallel causing the disparity to have a constant value
 * making it easy check for correctness.
 *
 * @param tolFilled What fraction of fused image should be filled
 * @param tolCorrect Out of the filled pixels what fraction need to have the correct disparity
 */
void simulate_constant_disparity(Se3_F64 world_to_view1, Se3_F64 world_to_view2, double tolFilled, double tolCorrect) {
    // Each camera is different.
    List<CameraPinholeBrown> listIntrinsic = new ArrayList<>();
    listIntrinsic.add(new CameraPinholeBrown().fsetK(150, 140, 0, 105, 100, 210, 200).fsetRadial(0.02, -0.003));
    listIntrinsic.add(new CameraPinholeBrown().fsetK(151, 142, 0, 107.5, 102.5, 215, 205).fsetRadial(0.03, -0.001));
    listIntrinsic.add(new CameraPinholeBrown().fsetK(149, 141, 0, 102.5, 107.5, 205, 215).fsetRadial(0.001, 0.003));
    // Create the scene. This will be used as input into MultiViewToFusedDisparity and in the simulator
    var scene = new SceneStructureMetric(true);
    scene.initialize(3, 3, 0);
    scene.setCamera(0, true, listIntrinsic.get(0));
    scene.setCamera(1, true, listIntrinsic.get(1));
    scene.setCamera(2, true, listIntrinsic.get(2));
    // All views are looking head on at the target. The 2nd and third view have been offset to ensure full coverage and that
    // it's incorporating all the views, otherwise there would be large gaps
    scene.setView(0, 0, true, eulerXyz(0, 0, 0, 0.0, 0, 0, null));
    scene.setView(1, 1, true, world_to_view1);
    scene.setView(2, 2, true, world_to_view2);
    var lookup = new MockLookUp();
    var alg = new MultiBaselineStereoIndependent<>(lookup, ImageType.SB_F32);
    // Not mocking disparity because of how complex that would be to pull off. This makes it a bit of an inexact
    // science to ensure fill in
    var configDisp = new ConfigDisparityBMBest5();
    configDisp.errorType = DisparityError.SAD;
    configDisp.texture = 0.05;
    configDisp.disparityMin = 20;
    configDisp.disparityRange = 80;
    alg.stereoDisparity = FactoryStereoDisparity.blockMatchBest5(configDisp, GrayF32.class, GrayF32.class);
    // Textured target that stereo will work well on
    var texture = new GrayF32(100, 100);
    ImageMiscOps.fillUniform(texture, rand, 50, 255);
    SimulatePlanarWorld sim = new SimulatePlanarWorld();
    sim.addSurface(eulerXyz(0, 0, 2, 0, Math.PI, 0, null), 3, texture);
    List<GrayF32> images = new ArrayList<>();
    TIntObjectMap<String> sbaIndexToViewID = new TIntObjectHashMap<>();
    for (int i = 0; i < listIntrinsic.size(); i++) {
        sbaIndexToViewID.put(i, i + "");
        sim.setCamera(listIntrinsic.get(i));
        sim.setWorldToCamera(scene.motions.get(i).motion);
        images.add(sim.render().clone());
        if (visualize)
            ShowImages.showWindow(images.get(images.size() - 1), "Frame " + i);
    }
    lookup.images = images;
    assertTrue(alg.process(scene, 0, DogArray_I32.array(1, 2), sbaIndexToViewID::get));
    GrayF32 found = alg.getFusedDisparity();
    assertEquals(listIntrinsic.get(0).width, found.width);
    assertEquals(listIntrinsic.get(0).height, found.height);
    if (visualize) {
        ShowImages.showWindow(VisualizeImageData.disparity(found, null, 100, 0x00FF00), "Disparity");
        BoofMiscOps.sleep(60_000);
    }
    DisparityParameters param = alg.getFusedParam();
    // Check the results. Since the target fills the view and is a known constant Z away we can that here.
    // however since a real disparity algorithm is being used its inputs will not be perfect
    int totalFilled = 0;
    int totalCorrect = 0;
    for (int y = 0; y < found.height; y++) {
        for (int x = 0; x < found.width; x++) {
            float d = found.get(x, y);
            assertTrue(d >= 0);
            if (d >= param.disparityRange)
                continue;
            double Z = param.baseline * param.pinhole.fx / (d + param.disparityMin);
            if (Math.abs(Z - 2.0) <= 0.1)
                totalCorrect++;
            totalFilled++;
        }
    }
    int N = found.width * found.height;
    assertTrue(N * tolFilled <= totalFilled);
    assertTrue(totalFilled * tolCorrect <= totalCorrect);
}

Example 44 with SceneStructureMetric

use of boofcv.abst.geo.bundle.SceneStructureMetric in project BoofCV by lessthanoptimal.

the class TestMultiBaselineStereoIndependent method handleOneCameraManyViews.

/**
 * In this scene there is only one camera for several views
 */
@Test
void handleOneCameraManyViews() {
    var scene = new SceneStructureMetric(true);
    scene.initialize(1, 3, 0);
    scene.setCamera(0, true, new CameraPinholeBrown().fsetK(30, 30, 0, 25, 25, 50, 50));
    for (int i = 0; i < 3; i++) {
        scene.setView(i, 0, true, eulerXyz(i, 0, 0, 0, 0, 0, null));
    }
    var alg = new MultiBaselineStereoIndependent<>(ImageType.SB_F32);
    var configDisp = new ConfigDisparityBMBest5();
    configDisp.errorType = DisparityError.SAD;
    configDisp.disparityRange = 5;
    alg.stereoDisparity = FactoryStereoDisparity.blockMatchBest5(configDisp, GrayF32.class, GrayF32.class);
    List<GrayF32> images = new ArrayList<>();
    TIntObjectMap<String> sbaIndexToViewID = new TIntObjectHashMap<>();
    for (int i = 0; i < 3; i++) {
        images.add(new GrayF32(50, 50));
        sbaIndexToViewID.put(i, i + "");
    }
    alg.lookUpImages = new MockLookUp(images);
    // Override so that it will always be happy
    alg.performFusion = new MultiBaselineDisparityMedian() {

        @Override
        public boolean process(GrayF32 disparity) {
            return true;
        }
    };
    // just see if it blows up
    assertTrue(alg.process(scene, 0, DogArray_I32.array(1, 2), sbaIndexToViewID::get));
}

Example 45 with SceneStructureMetric

use of boofcv.abst.geo.bundle.SceneStructureMetric in project BoofCV by lessthanoptimal.

the class TestColorizeMultiViewStereoResults method simple_processMvsCloud.

/**
 * Two images contribute to the point cloud. Each image has a different color so that the source of the RGB
 * value can be easily found.
 */
@Test
void simple_processMvsCloud() {
    // scene with two views that are identical
    var scene = new SceneStructureMetric(false);
    scene.initialize(1, 2, 0);
    scene.setCamera(0, true, new CameraPinhole(200, 200, 0, width / 2, height / 2, 0, 0));
    scene.setView(0, 0, true, SpecialEuclideanOps_F64.eulerXyz(0, 0, 0, 0, 0, 0, null));
    scene.setView(1, 0, true, SpecialEuclideanOps_F64.eulerXyz(0, 0, 0, 0, 0, 0, null));
    // Create two views
    var mvs = new MultiViewStereoFromKnownSceneStructure<>(new MockLookUp(), ImageType.SB_U8);
    mvs.listCenters.add(new MultiViewStereoFromKnownSceneStructure.ViewInfo());
    mvs.listCenters.get(0).metric = scene.views.get(0);
    mvs.listCenters.get(0).relations = new StereoPairGraph.Vertex();
    mvs.listCenters.get(0).relations.id = "10";
    mvs.listCenters.get(0).relations.indexSba = 0;
    mvs.listCenters.add(new MultiViewStereoFromKnownSceneStructure.ViewInfo());
    mvs.listCenters.get(1).metric = scene.views.get(1);
    mvs.listCenters.get(1).relations = new StereoPairGraph.Vertex();
    mvs.listCenters.get(1).relations.id = "15";
    mvs.listCenters.get(1).relations.indexSba = 1;
    // One point for each view. Both points are in the image center
    mvs.disparityCloud.viewPointIdx.setTo(0, 1, 2);
    mvs.disparityCloud.cloud.grow().setTo(0, 0, 1);
    mvs.disparityCloud.cloud.grow().setTo(0, 0, 1);
    var alg = new ColorizeMultiViewStereoResults<>(new LookUpColorRgbFormats.SB_U8(), new MockLookUp());
    alg.processMvsCloud(scene, mvs, (idx, r, g, b) -> {
        // we can assume the first view is called first, but that's not strictly required to be correct
        int expected = idx == 0 ? 10 : 15;
        assertEquals(expected, r);
        assertEquals(expected, g);
        assertEquals(expected, b);
        count++;
    });
    // make sure the functions were called
    assertEquals(2, count);
}