Examples with BundlePinholeSimplified boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified used on opensource projects

Example 16 with BundlePinholeSimplified

use of boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified in project BoofCV by lessthanoptimal.

the class MetricMergeScenes method merge.

/**
 * Merges the 'src' scene into 'dst'. Both scenes are only modified if true is returned.
 *
 * @param dbSimilar Contains image related information
 * @param src The scene being merged into 'dst'
 * @param dst Where the combined scene will be stored. This is assumed to be the 'more correct' scene
 * @return true if src was merged into dst or false if it failed and nothing has been modified
 */
public boolean merge(LookUpSimilarImages dbSimilar, SceneWorkingGraph src, SceneWorkingGraph dst) {
    // Find the common views
    findCommonViews(src, dst, commonViews, verbose);
    if (commonViews.isEmpty())
        return false;
    // Sort in order of "best" last
    Collections.sort(commonViews.toList(), (a, b) -> Double.compare(a.score, b.score));
    // Compute the coordinate transform between the scenes using the "best" pair of views
    CommonView best = commonViews.getTail();
    if (!mergingOps.computeSceneTransform(dbSimilar, src, dst, best.src, best.dst, src_to_dst))
        return false;
    src_to_dst.transform.invert(transform_dst_to_src);
    // Creates a working scene from 'src' but adding values from 'dst' as needed
    createWorkScene(src, dst);
    // Refine the working scene. This will help mend the differences between the two scenes
    if (!refiner.process(dbSimilar, workScene, utils -> {
        for (int i = 0; i < knownCameras.size; i++) {
            utils.structure.cameras.get(i).known = knownCameras.get(i);
        }
        for (int i = 0; i < knownViews.size; i++) {
            utils.structure.motions.get(i).known = knownViews.get(i);
        }
    })) {
        if (verbose != null)
            verbose.println("FAiLED: Refiner return false");
        return false;
    }
    // If they are, fix minor errors, then the merge is considered to be successful
    if (!verifyAndFixConstraints(dbSimilar))
        return false;
    // Print the state of views which are not common so you can see how much they have changed.
    if (verbose != null) {
        for (int i = 0; i < workScene.listViews.size(); i++) {
            SceneWorkingGraph.View wview = workScene.listViews.get(i);
            if (dst.views.get(wview.pview.id) != null)
                continue;
            BundlePinholeSimplified intrinsic = workScene.getViewCamera(wview).intrinsic;
            verbose.printf("After id='%s' src={ f=%.1f k1=%.1e k2=%.1e }\n", wview.pview.id, intrinsic.f, intrinsic.k1, intrinsic.k2);
        }
    }
    // Copy the results to 'dst'.
    mergeWorkIntoDst(dst);
    return true;
}

Example 17 with BundlePinholeSimplified

use of boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified in project BoofCV by lessthanoptimal.

the class MetricMergeScenes method findCommonViews.

/**
 * Finds all views which are common between the two scenes
 */
static void findCommonViews(SceneWorkingGraph src, SceneWorkingGraph dst, DogArray<CommonView> commonViews, @Nullable PrintStream verbose) {
    commonViews.reset();
    // Go through all the views in the src list
    for (int srcViewIdx = 0; srcViewIdx < src.listViews.size(); srcViewIdx++) {
        SceneWorkingGraph.View srcView = src.listViews.get(srcViewIdx);
        SceneWorkingGraph.View dstView = dst.views.get(srcView.pview.id);
        if (dstView == null) {
            if (verbose != null) {
                BundlePinholeSimplified intrinsic = src.getViewCamera(srcView).intrinsic;
                verbose.printf("id='%s' src={ f=%.1f k1=%.1e k2=%.1e }\n", srcView.pview.id, intrinsic.f, intrinsic.k1, intrinsic.k2);
            }
            continue;
        }
        // use the worst score of the pair as being pessimistic seems to work best in reconstruction
        double score = Math.min(srcView.getBestInlierScore(), dstView.getBestInlierScore());
        commonViews.grow().setTo(srcView, dstView, score);
        if (verbose != null) {
            BundlePinholeSimplified srcIntrinsic = src.getViewCamera(srcView).intrinsic;
            BundlePinholeSimplified dstIntrinsic = dst.getViewCamera(dstView).intrinsic;
            verbose.printf("id='%s' src={ f=%.1f k1=%.1e k2=%.1e } dst={ f=%.1f k1=%.1e k2=%.1e }\n", srcView.pview.id, srcIntrinsic.f, srcIntrinsic.k1, srcIntrinsic.k2, dstIntrinsic.f, dstIntrinsic.k1, dstIntrinsic.k2);
        }
    }
    if (verbose != null) {
        verbose.print("Common: size=" + commonViews.size + "/" + src.listViews.size() + " views={ ");
        for (int i = 0; i < commonViews.size; i++) {
            verbose.print("'" + commonViews.get(i).src.pview.id + "' ");
        }
        verbose.println("}");
    }
}

Example 18 with BundlePinholeSimplified

use of boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified in project BoofCV by lessthanoptimal.

the class ExampleMultiViewSparseReconstruction method compute.

public void compute(String videoName, boolean sequential) {
    // Turn on threaded code for bundle adjustment
    DDoglegConcurrency.USE_CONCURRENT = true;
    // Create a directory to store the work space
    String path = UtilIO.pathExample("mvs/" + videoName);
    workDirectory = "mvs_work/" + FilenameUtils.getBaseName(videoName);
    // Attempt to reload intermediate results if previously computed
    if (!rebuild) {
        try {
            pairwise = MultiViewIO.load(new File(workDirectory, "pairwise.yaml").getPath(), (PairwiseImageGraph) null);
        } catch (UncheckedIOException ignore) {
        }
        try {
            working = MultiViewIO.load(new File(workDirectory, "working.yaml").getPath(), pairwise, null);
        } catch (UncheckedIOException ignore) {
        }
        try {
            scene = MultiViewIO.load(new File(workDirectory, "structure.yaml").getPath(), (SceneStructureMetric) null);
        } catch (UncheckedIOException ignore) {
        }
    }
    // Convert the video into an image sequence. Later on we will need to access the images in random order
    var imageDirectory = new File(workDirectory, "images");
    if (imageDirectory.exists()) {
        imageFiles = UtilIO.listSmart(String.format("glob:%s/images/*.png", workDirectory), true, (f) -> true);
    } else {
        checkTrue(imageDirectory.mkdirs(), "Failed to image directory");
        SimpleImageSequence<InterleavedU8> sequence = DefaultMediaManager.INSTANCE.openVideo(path, ImageType.IL_U8);
        System.out.println("----------------------------------------------------------------------------");
        System.out.println("### Decoding Video");
        BoofMiscOps.profile(() -> {
            int frame = 0;
            while (sequence.hasNext()) {
                InterleavedU8 image = sequence.next();
                File imageFile = new File(imageDirectory, String.format("frame%04d.png", frame++));
                imageFiles.add(imageFile.getPath());
                // This is commented out for what appears to be a JRE bug.
                // V  [libjvm.so+0xdc4059]  SWPointer::SWPointer(MemNode*, SuperWord*, Node_Stack*, bool)
                UtilImageIO.saveImage(image, imageFile.getPath());
            }
        }, "Video Decoding");
    }
    // Only determine the visual relationship between images if needed
    if (pairwise == null || working == null) {
        if (sequential) {
            similarImagesFromSequence();
        } else {
            similarImagesFromUnsorted();
        }
    }
    if (pairwise == null)
        computePairwiseGraph();
    if (working == null)
        metricFromPairwise();
    if (scene == null)
        bundleAdjustmentRefine();
    var rod = new Rodrigues_F64();
    System.out.println("----------------------------------------------------------------------------");
    for (PairwiseImageGraph.View pv : pairwise.nodes.toList()) {
        if (!working.containsView(pv.id))
            continue;
        SceneWorkingGraph.View wv = working.lookupView(pv.id);
        int order = working.listViews.indexOf(wv);
        ConvertRotation3D_F64.matrixToRodrigues(wv.world_to_view.R, rod);
        BundlePinholeSimplified intrinsics = working.getViewCamera(wv).intrinsic;
        System.out.printf("view[%2d]='%2s' f=%6.1f k1=%6.3f k2=%6.3f T={%5.1f,%5.1f,%5.1f} R=%4.2f\n", order, wv.pview.id, intrinsics.f, intrinsics.k1, intrinsics.k2, wv.world_to_view.T.x, wv.world_to_view.T.y, wv.world_to_view.T.z, rod.theta);
    }
    System.out.println("   Views used: " + scene.views.size + " / " + pairwise.nodes.size);
}