Examples with CalibrationObservation boofcv.alg.geo.calibration.CalibrationObservation used on opensource projects

Example 16 with CalibrationObservation

use of boofcv.alg.geo.calibration.CalibrationObservation in project BoofCV by lessthanoptimal.

the class DisplayFisheyeCalibrationPanel method drawFeatures.

private void drawFeatures(Graphics2D g2, double scale) {
    if (results == null)
        return;
    g2.setRenderingHint(RenderingHints.KEY_STROKE_CONTROL, RenderingHints.VALUE_STROKE_PURE);
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    CalibrationObservation set = features;
    Point2D_F32 adj = new Point2D_F32();
    if (showOrder) {
        renderOrder(g2, scale, (List) set.points);
    }
    if (showPoints) {
        g2.setColor(Color.BLACK);
        g2.setStroke(new BasicStroke(3));
        for (PointIndex2D_F64 p : set.points) {
            adj.set((float) p.x, (float) p.y);
            VisualizeFeatures.drawCross(g2, adj.x * scale, adj.y * scale, 4);
        }
        g2.setStroke(new BasicStroke(1));
        g2.setColor(Color.RED);
        for (PointIndex2D_F64 p : set.points) {
            adj.set((float) p.x, (float) p.y);
            VisualizeFeatures.drawCross(g2, adj.x * scale, adj.y * scale, 4);
        }
    }
    if (showAll) {
        for (CalibrationObservation l : allFeatures) {
            for (PointIndex2D_F64 p : l.points) {
                adj.set((float) p.x, (float) p.y);
                VisualizeFeatures.drawPoint(g2, adj.x * scale, adj.y * scale, 2, Color.BLUE, false);
            }
        }
    }
    if (showNumbers) {
        drawNumbers(g2, set, null, scale);
    }
    if (showErrors) {
        g2.setStroke(new BasicStroke(4));
        g2.setColor(Color.BLACK);
        for (int i = 0; i < set.size(); i++) {
            PointIndex2D_F64 p = set.get(i);
            adj.set((float) p.x, (float) p.y);
            double r = errorScale * results.pointError[i];
            if (r < 1)
                continue;
            VisualizeFeatures.drawCircle(g2, adj.x * scale, adj.y * scale, r);
        }
        g2.setStroke(new BasicStroke(2.5f));
        g2.setColor(Color.ORANGE);
        for (int i = 0; i < set.size(); i++) {
            PointIndex2D_F64 p = set.get(i);
            adj.set((float) p.x, (float) p.y);
            double r = errorScale * results.pointError[i];
            if (r < 1)
                continue;
            VisualizeFeatures.drawCircle(g2, adj.x * scale, adj.y * scale, r);
        }
    }
}