Examples with ImageResults boofcv.abst.geo.calibration.ImageResults used on opensource projects

Example 1 with ImageResults

use of boofcv.abst.geo.calibration.ImageResults in project BoofCV by lessthanoptimal.

the class GenericCalibrationZhang99 method optimizedParam_noisy.

void optimizedParam_noisy(double noiseMagnitude) {
    for (CameraConfig config : createCamera(rand)) {
        CalibInputs inputs = createInputs(config.model, 3, rand);
        Zhang99Camera zhangCamera = createGenerator(config, inputs.layout);
        // Add noise to the initial pinhole camera estimate
        DMatrixRMaj K = cameraToK(config);
        K.data[0] += (rand.nextDouble() - 0.5) * noiseMagnitude;
        K.data[4] += (rand.nextDouble() - 0.5) * noiseMagnitude;
        var alg = new CalibrationPlanarGridZhang99(inputs.layout, zhangCamera);
        alg.convertIntoBundleStructure(inputs.worldToViews, K, inputs.homographies, inputs.observations);
        assertTrue(alg.performBundleAdjustment());
        // verify results using errors
        List<ImageResults> errors = alg.computeErrors();
        for (int i = 0; i < errors.size(); i++) {
            assertEquals(0, errors.get(i).meanError, 0.01);
        }
    }
}

Example 2 with ImageResults

use of boofcv.abst.geo.calibration.ImageResults in project BoofCV by lessthanoptimal.

the class CalibrateMonocularPlanarApp method showStatsToUser.

/**
 * Format statistics on results and add to a text panel
 */
private void showStatsToUser() {
    results.safe(() -> {
        double averageError = 0.0;
        double maxError = 0.0;
        for (int i = 0; i < results.usedImages.size(); i++) {
            String image = results.imagePaths.get(results.usedImages.get(i));
            ImageResults r = results.getResults(image);
            averageError += r.meanError;
            maxError = Math.max(maxError, r.maxError);
        }
        averageError /= results.usedImages.size();
        String text = String.format("Reprojection Errors (px):\n\nmean=%.3f max=%.3f\n\n", averageError, maxError);
        text += String.format("%-10s | %8s\n", "image", "max (px)");
        for (int i = 0; i < results.usedImages.size(); i++) {
            String image = results.imagePaths.get(results.usedImages.get(i));
            ImageResults r = results.getResults(image);
            text += String.format("%-12s %8.3f\n", new File(image).getName(), r.maxError);
        }
        String _text = text;
        SwingUtilities.invokeLater(() -> {
            configurePanel.textAreaStats.setText(_text);
            // show the top where summary stats are
            configurePanel.textAreaStats.setCaretPosition(0);
        });
    });
}

Example 3 with ImageResults

use of boofcv.abst.geo.calibration.ImageResults in project BoofCV by lessthanoptimal.

the class CalibrateMonocularPlanarApp method changeSelectedGUI.

/**
 * Change which image is being displayed. Request from GUI
 */
private void changeSelectedGUI(int index) {
    if (index < 0 || index >= results.imagePaths.size())
        return;
    BoofSwingUtil.checkGuiThread();
    // Change the item selected in the list
    imageListPanel.setSelected(index);
    String path = results.select(() -> results.imagePaths.get(index));
    BufferedImage image = UtilImageIO.loadImage(path);
    if (image == null) {
        System.err.println("Could not load image: " + path);
        return;
    }
    configurePanel.setImageSize(image.getWidth(), image.getHeight());
    getCalibrationPanel().setBufferedImageNoChange(image);
    CalibrationObservation imageObservations = getObservationsForSelected();
    ImageResults imageResults = getResultsForSelected();
    if (imageObservations == null || imageResults == null)
        return;
    getCalibrationPanel().setResults(imageObservations, imageResults, results.allUsedObservations);
    getCalibrationPanel().repaint();
}

Example 4 with ImageResults

use of boofcv.abst.geo.calibration.ImageResults in project BoofCV by lessthanoptimal.

the class CalibrateStereoPlanarApp method showStatsToUser.

/**
 * Format statistics on results and add to a text panel
 */
private void showStatsToUser() {
    BoofSwingUtil.checkGuiThread();
    algorithms.lock();
    results.lock();
    try {
        double averageError = 0.0;
        double maxError = 0.0;
        List<ImageResults> errors = algorithms.calibrator.computeErrors();
        if (errors.isEmpty())
            return;
        for (int i = 0; i < errors.size(); i++) {
            ImageResults r = errors.get(i);
            averageError += r.meanError;
            maxError = Math.max(maxError, r.maxError);
        }
        averageError /= errors.size();
        String text = String.format("Reprojection Errors (px):\n\nmean=%.3f max=%.3f\n\n", averageError, maxError);
        text += String.format("%-10s | %8s\n", "image", "max (px)");
        for (int imageIdx = 0, i = 0; imageIdx < results.names.size(); imageIdx++) {
            if (!results.used.get(imageIdx))
                continue;
            String imageName = results.names.get(imageIdx);
            ImageResults r = errors.get(i);
            text += String.format("%-12s %8.3f\n", imageName, r.maxError);
            // print right image now
            r = errors.get(i + 1);
            text += String.format("%-12s %8.3f\n", "", r.maxError);
            i += 2;
        }
        String _text = text;
        SwingUtilities.invokeLater(() -> {
            configurePanel.textAreaStats.setText(_text);
            // show the top where summary stats are
            configurePanel.textAreaStats.setCaretPosition(0);
        });
    } finally {
        algorithms.unlock();
        results.unlock();
    }
}

Example 5 with ImageResults

use of boofcv.abst.geo.calibration.ImageResults in project BoofCV by lessthanoptimal.

the class StereoPlanarPanel method updateResultsGUI.

private synchronized void updateResultsGUI() {
    if (leftResults != null && rightResults != null && selectedImage < leftResults.size()) {
        ImageResults r = leftResults.get(selectedImage);
        String textMean = String.format("%5.1e", r.meanError);
        String textMax = String.format("%5.1e", r.maxError);
        meanErrorLeft.setText(textMean);
        maxErrorLeft.setText(textMax);
        r = rightResults.get(selectedImage);
        textMean = String.format("%5.1e", r.meanError);
        textMax = String.format("%5.1e", r.maxError);
        meanErrorRight.setText(textMean);
        maxErrorRight.setText(textMax);
    }
}