Examples with StereoPairGraph boofcv.alg.mvs.StereoPairGraph used on opensource projects

Example 1 with StereoPairGraph

use of boofcv.alg.mvs.StereoPairGraph in project BoofCV by lessthanoptimal.

the class TestGenerateStereoPairGraphFromScene method allTogether.

/**
 * Simple test where viewA and viewB only share very far away points and should have a low score. A and C
 * share some much closer points and should have a good score.
 */
@Test
void allTogether() {
    var viewToId = new TIntObjectHashMap<String>();
    var scene = new SceneStructureMetric(false);
    scene.initialize(3, 3, 10);
    for (int i = 0; i < 3; i++) {
        viewToId.put(i, "" + (i + 1));
        scene.setView(i, i, true, new Se3_F64());
        scene.setCamera(i, true, new CameraPinhole(200, 200, 0, 150, 150, 300, 300));
        scene.motions.get(i).motion.T.x = i;
    }
    // Create the points far away
    for (int i = 0; i < 5; i++) {
        scene.setPoint(i, 0, 0, 1e4);
        scene.points.get(i).views.setTo(0, 1);
    }
    // Add the up close points
    for (int i = 5; i < 10; i++) {
        scene.setPoint(i, 0, 0, 4);
        scene.points.get(i).views.setTo(0, 2);
    }
    var alg = new GenerateStereoPairGraphFromScene();
    alg.process(viewToId, scene);
    StereoPairGraph found = alg.getStereoGraph();
    assertEquals(3, found.vertexes.size());
    StereoPairGraph.Vertex vA = Objects.requireNonNull(found.vertexes.get("1"));
    StereoPairGraph.Vertex vB = Objects.requireNonNull(found.vertexes.get("2"));
    StereoPairGraph.Vertex vC = Objects.requireNonNull(found.vertexes.get("3"));
    assertEquals(0, vA.indexSba);
    assertEquals(1, vB.indexSba);
    assertEquals(2, vC.indexSba);
    assertEquals(2, vA.pairs.size());
    assertEquals(1, vB.pairs.size());
    assertEquals(1, vC.pairs.size());
    double quality_a_b = vA.pairs.get(0).quality3D;
    double quality_a_c = vA.pairs.get(1).quality3D;
    assertTrue(quality_a_c > quality_a_b * 2);
    assertTrue(quality_a_b > 0.0 && quality_a_b <= 1.0);
    assertTrue(quality_a_c > 0.0 && quality_a_c <= 1.0);
}