Examples with WorldToCameraToPixel boofcv.alg.geo.WorldToCameraToPixel used on opensource projects

Example 16 with WorldToCameraToPixel

use of boofcv.alg.geo.WorldToCameraToPixel in project BoofCV by lessthanoptimal.

the class TestSimulatePlanarWorld method checkOrientation.

private void checkOrientation(int expectedAA, int expectedAB, int expectedBB, int expectedBA, double rotZ) {
    double markerZ = 2;
    double markerWidth = 0.5;
    CameraPinhole pinhole = new CameraPinhole(400, 400, 0, 300, 250, 600, 500);
    GrayF32 marker = new GrayF32(40, 30);
    GImageMiscOps.fill(marker, 255);
    // fill the top left corner so that we can tell the orientation
    GImageMiscOps.fillRectangle(marker, 100, 0, 0, 20, 15);
    Se3_F64 markerToWorld = eulerXyz(0, 0, markerZ, 0, Math.PI, rotZ, null);
    SimulatePlanarWorld alg = new SimulatePlanarWorld();
    alg.setCamera(pinhole);
    alg.addSurface(markerToWorld, markerWidth, marker);
    alg.render();
    GrayF32 image = alg.getOutput();
    // ShowImages.showWindow(image,"Adsasd");
    // try {
    // Thread.sleep(10000);
    // } catch (InterruptedException e) {
    // e.printStackTrace();
    // }
    // figure out where the marker was rendered
    Point2D_F64 p0 = new Point2D_F64();
    Point2D_F64 p1 = new Point2D_F64();
    double ratio = marker.height / (double) marker.width;
    WorldToCameraToPixel w2p = new WorldToCameraToPixel();
    w2p.configure(pinhole, markerToWorld);
    assertTrue(w2p.transform(new Point3D_F64(-markerWidth / 2, -ratio * markerWidth / 2, 0), p0));
    assertTrue(w2p.transform(new Point3D_F64(markerWidth / 2, ratio * markerWidth / 2, 0), p1));
    int x0 = (int) Math.min(p0.x, p1.x);
    int y0 = (int) Math.min(p0.y, p1.y);
    int x1 = (int) Math.max(p0.x, p1.x);
    int y1 = (int) Math.max(p0.y, p1.y);
    int xm = (x0 + x1) / 2;
    int ym = (y0 + y1) / 2;
    double regionAA = image.get((x0 + xm) / 2, (y0 + ym) / 2);
    double regionAB = image.get((x0 + xm) / 2, (ym + y1) / 2);
    double regionBB = image.get((xm + x1) / 2, (ym + y1) / 2);
    double regionBA = image.get((xm + x1) / 2, (y0 + ym) / 2);
    assertEquals(expectedAA, regionAA, 5);
    assertEquals(expectedAB, regionAB, 5);
    assertEquals(expectedBB, regionBB, 5);
    assertEquals(expectedBA, regionBA, 5);
}

Example 17 with WorldToCameraToPixel

use of boofcv.alg.geo.WorldToCameraToPixel in project BoofCV by lessthanoptimal.

the class TestQuadPoseEstimator method computeErrors.

@Test
void computeErrors() {
    LensDistortionNarrowFOV distortion = createDistortion();
    Se3_F64 fiducialToCamera = new Se3_F64();
    fiducialToCamera.getT().setTo(0.2, -0.15, 2);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, 0.015, 0.001, fiducialToCamera.R);
    QuadPoseEstimator alg = new QuadPoseEstimator(1e-8, 200);
    alg.setLensDistoriton(distortion);
    double r = 1.5;
    alg.setFiducial(r, -r, r, r, -r, r, -r, -r);
    WorldToCameraToPixel worldToPixel = PerspectiveOps.createWorldToPixel(distortion, fiducialToCamera);
    for (int i = 0; i < 4; i++) {
        Point3D_F64 X = alg.points.get(i).location;
        alg.listObs.add(worldToPixel.transform(X));
    }
    // perfect
    assertEquals(0, alg.computeErrors(fiducialToCamera), 1e-8);
    // now with known errors
    for (int i = 0; i < 4; i++) {
        alg.listObs.get(i).x += 1.5;
        assertEquals(1.5, alg.computeErrors(fiducialToCamera), 1e-8);
        alg.listObs.get(i).x -= 1.5;
    }
}