Examples with CameraState boofcv.alg.geo.selfcalib.RefineDualQuadraticAlgebraicError.CameraState used on opensource projects

Example 1 with CameraState

use of boofcv.alg.geo.selfcalib.RefineDualQuadraticAlgebraicError.CameraState in project BoofCV by lessthanoptimal.

the class TestRefineDualQuadraticAlgebraicError method encode_decode.

@Test
void encode_decode() {
    var alg = new RefineDualQuadraticAlgebraicError();
    for (int i = 0; i < 10; i++) {
        alg.priorCameras.grow().setTo(400 + i, 1.0 + i / 20.0, 340, 400);
    }
    alg.cameras.resize(alg.priorCameras.size);
    double[] parameters = new double[(1 + 1 + 2) * 10 + 3];
    Point3D_F64 p = new Point3D_F64(planeAtInfinity.get(0), planeAtInfinity.get(1), planeAtInfinity.get(2));
    alg.encodeParameters(p, alg.priorCameras, parameters);
    p.setTo(0, 0, 0);
    alg.decodeParameters(parameters, alg.cameras, p);
    for (int cameraIdx = 0; cameraIdx < alg.cameras.size; cameraIdx++) {
        CameraState found = alg.cameras.get(cameraIdx);
        CameraState expected = alg.cameras.get(cameraIdx);
        assertEquals(expected.fx, found.fx);
        assertEquals(expected.aspectRatio, found.aspectRatio);
        assertEquals(expected.cx, found.cx);
        assertEquals(expected.cy, found.cy);
    }
    assertEquals(planeAtInfinity.get(0), p.x);
    assertEquals(planeAtInfinity.get(1), p.y);
    assertEquals(planeAtInfinity.get(2), p.z);
}

Example 2 with CameraState

use of boofcv.alg.geo.selfcalib.RefineDualQuadraticAlgebraicError.CameraState in project BoofCV by lessthanoptimal.

the class TestRefineDualQuadraticAlgebraicError method checkRefine.

private void checkRefine(RefineDualQuadraticAlgebraicError alg, List<CameraPinhole> expected, List<CameraPinhole> noisy, double tol) {
    // alg.setVerbose(System.out, null);
    renderGood(expected);
    setState(alg, noisy, planeAtInfinity.get(0), planeAtInfinity.get(1), planeAtInfinity.get(2));
    assertTrue(alg.refine());
    List<CameraState> found = alg.getCameras().toList();
    // checking against size of noisy, since noisy is number of cameras
    assertEquals(noisy.size(), found.size());
    // estimate gets worse
    for (int i = 0; i < noisy.size(); i++) {
        CameraPinhole e = expected.get(i);
        CameraState f = found.get(i);
        if (alg.isKnownAspect()) {
            assertEquals(e.fx, f.fx, tol);
            assertEquals(e.fy / e.fx, f.aspectRatio, 0.01);
        } else {
            assertEquals(e.fx, f.fx, tol);
            assertEquals(e.fy / e.fx, f.aspectRatio, 0.05);
        }
        if (alg.isKnownPrinciplePoint()) {
            assertEquals(e.cx, f.cx, UtilEjml.TEST_F64_SQ);
            assertEquals(e.cy, f.cy, UtilEjml.TEST_F64_SQ);
        } else {
            assertEquals(e.cx, f.cx, tol);
            assertEquals(e.cy, f.cy, tol);
        }
    }
}

Example 3 with CameraState

use of boofcv.alg.geo.selfcalib.RefineDualQuadraticAlgebraicError.CameraState in project BoofCV by lessthanoptimal.

the class ProjectiveToMetricCameraDualQuadratic method refineCamerasAlgebraic.

/**
 * This refines intrinsic parameters by minimizing algebraic error. If anything goes wrong it doesn't update
 * the intrinsics. Also updates the rectifying homography.
 */
void refineCamerasAlgebraic(List<ElevateViewInfo> views, List<DMatrixRMaj> cameraMatrices, int numCameras) {
    // Refiner can't handle non-zero skew yet
    if (!selfCalib.zeroSkew) {
        if (verbose != null)
            verbose.println("Skipping refine since skew is not zero");
        return;
    }
    // Just skip everything if it has been turned off
    if (refiner.converge.maxIterations <= 0)
        return;
    // Sanity check the P0 is implicit
    BoofMiscOps.checkEq(views.size(), cameraMatrices.size() + 1);
    // Make sure refiner applies the same constraints that the linear estimator applies
    refiner.knownAspect = selfCalib.isKnownAspect();
    refiner.knownPrinciplePoint = true;
    // Configure the refiner. If multiple views use the same camera this constraint is applied
    refiner.initialize(numCameras, views.size());
    DMatrix3 planeAtInfinity = selfCalib.getPlaneAtInfinity();
    refiner.setPlaneAtInfinity(planeAtInfinity.a1, planeAtInfinity.a2, planeAtInfinity.a3);
    for (int cameraIdx = 0; cameraIdx < numCameras; cameraIdx++) {
        CameraPinhole merged = workCameras.get(cameraIdx);
        refiner.setCamera(cameraIdx, merged.fx, merged.cx, merged.cy, merged.fy / merged.fx);
    }
    for (int viewIdx = 0; viewIdx < views.size(); viewIdx++) {
        if (viewIdx == 0)
            refiner.setProjective(0, P1);
        else
            refiner.setProjective(viewIdx, cameraMatrices.get(viewIdx - 1));
        refiner.setViewToCamera(viewIdx, views.get(viewIdx).cameraID);
    }
    // Refine and change nothing if it fails
    if (!refiner.refine()) {
        if (verbose != null)
            verbose.println("Refine failed! Ignoring results");
        return;
    }
    if (verbose != null) {
        for (int i = 0; i < numCameras; i++) {
            CameraState refined = refiner.getCameras().get(i);
            verbose.printf("refined[%d] fx=%.1f fy=%.1f\n", i, refined.fx, refined.fx * refined.aspectRatio);
        }
    }
    // Save the refined intrinsic parameters
    for (int i = 0; i < views.size(); i++) {
        ElevateViewInfo info = views.get(i);
        CameraState refined = refiner.getCameras().get(info.cameraID);
        CameraPinhole estimated = workCameras.get(info.cameraID);
        estimated.fx = refined.fx;
        estimated.fy = refined.aspectRatio * refined.fx;
    // refiner doesn't support non-zero skew yet
    }
    // Update rectifying homography using the new parameters
    // NOTE: This formulation of H requires P1=[I|0] which is true in this case
    PerspectiveOps.pinholeToMatrix(workCameras.get(views.get(0).cameraID), K);
    MultiViewOps.canonicalRectifyingHomographyFromKPinf(K, refiner.planeAtInfinity, H);
}