Examples with Zhang99Camera boofcv.alg.geo.calibration.cameras.Zhang99Camera used on opensource projects

Example 1 with Zhang99Camera

use of boofcv.alg.geo.calibration.cameras.Zhang99Camera 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 Zhang99Camera

use of boofcv.alg.geo.calibration.cameras.Zhang99Camera in project BoofCV by lessthanoptimal.

the class GenericCalibrationZhang99 method fullTest.

void fullTest(boolean partial) {
    for (CameraConfig config : createCamera(rand)) {
        CalibInputs inputs = createInputs(config.model, 3, rand);
        // remove points for partial visibility of a target
        if (partial) {
            for (int i = 0; i < inputs.observations.size(); i++) {
                CalibrationObservation o = inputs.observations.get(i);
                for (int j = 0; j < 5; j++) {
                    o.points.remove(rand.nextInt(o.points.size()));
                }
            }
        }
        Zhang99Camera zhangCamera = createGenerator(config, inputs.layout);
        CalibrationPlanarGridZhang99 alg = new CalibrationPlanarGridZhang99(inputs.layout, zhangCamera);
        // estimate camera parameters using full non-linear methods
        alg.process(inputs.observations);
        // verify results using errors
        List<ImageResults> errors = alg.computeErrors();
        for (int i = 0; i < errors.size(); i++) {
            assertEquals(0, errors.get(i).meanError, reprojectionTol);
        }
    }
}

Example 3 with Zhang99Camera

use of boofcv.alg.geo.calibration.cameras.Zhang99Camera in project BoofCV by lessthanoptimal.

the class GenericCalibrationZhang99 method linearEstimate.

/**
 * See how well it computes an initial guess at the parameters given perfect inputs
 */
@Test
public void linearEstimate() {
    for (CameraConfig config : createCameraForLinearTests(rand)) {
        CalibInputs inputs = createInputs(config.model, 3, rand);
        Zhang99Camera zhangCamera = createGenerator(config, inputs.layout);
        var alg = new CalibrationPlanarGridZhang99(inputs.layout, zhangCamera);
        alg.setZeroSkew(true);
        alg.linearEstimate(inputs.observations);
        SceneStructureMetric structure = alg.getStructure();
        CM found = (CM) zhangCamera.getCameraModel(structure.getCameras().get(0).model);
        checkIntrinsicOnly(config.model, found, 0.01, 0.1, 0.1);
    }
}