Examples with BFrame boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame used on opensource projects

Example 11 with BFrame

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame in project BoofCV by lessthanoptimal.

the class TestMaxGeoKeyFrameManager method connectFrames.

public static void connectFrames(int a, int b, int count, VisOdomBundleAdjustment<BTrack> scene) {
    BFrame frameA = scene.frames.get(a);
    BFrame frameB = scene.frames.get(b);
    for (int i = 0; i < count; i++) {
        BTrack track = scene.tracks.grow();
        // crash hard if it's used
        track.id = -1;
        track.observations.grow().frame = frameA;
        track.observations.grow().frame = frameB;
        frameA.tracks.add(track);
        frameB.tracks.add(track);
    }
}

Example 12 with BFrame

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame in project BoofCV by lessthanoptimal.

the class TestSelectTracksInFrameForBundleAdjustment method minimal_all.

/**
 * Basic test. Each track is visible in every frame at the same location.
 */
@Test
void minimal_all() {
    var scene = new VisOdomBundleAdjustment<>(BTrack::new);
    var alg = new SelectTracksInFrameForBundleAdjustment(0xBEEF);
    // makes the math easier
    alg.configUniform.regionScaleFactor = 1.0;
    alg.maxFeaturesPerFrame = 200;
    var selected = new ArrayList<BTrack>();
    scene.addCamera(new CameraPinholeBrown(0, 0, 0, 0, 0, width, height));
    for (int i = 0; i < 5; i++) {
        scene.addFrame(i);
    }
    for (int i = 0; i < 200; i++) {
        scene.tracks.grow().id = i;
    }
    for (int i = 0; i < scene.frames.size; i++) {
        BFrame frame = scene.frames.get(i);
        for (int j = 0; j < 200; j++) {
            BTrack track = scene.tracks.get(j);
            frame.tracks.add(track);
            // pixel coordinates
            int x = (i * 10) % width;
            int y = 10 * ((i * 10) / width);
            VisOdomBundleAdjustment.BObservation o = track.observations.grow();
            o.frame = frame;
            o.pixel.setTo(x, y);
        }
    }
    alg.selectTracks(scene, selected);
    assertEquals(200, selected.size());
}

Example 13 with BFrame

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame in project BoofCV by lessthanoptimal.

the class TestVisOdomBundleAdjustment method createPerfectScene.

private void createPerfectScene(VisOdomBundleAdjustment<BTrack> vsba) {
    vsba.reset();
    List<Point3D_F64> cloud = UtilPoint3D_F64.random(new Point3D_F64(0, 0, 1.5), -1.5, 1.5, -0.5, 0.5, -0.2, 0.2, 500, rand);
    LensDistortionPinhole distortion = new LensDistortionPinhole(pinhole);
    Point2Transform2_F64 n2n = distortion.distort_F64(false, false);
    vsba.addCamera(pinhole);
    // 3D point in view reference frame
    Point3D_F64 Xv = new Point3D_F64();
    // normalized image coordinate
    Point2D_F64 n = new Point2D_F64();
    // pixel coordinate
    Point2D_F64 p = new Point2D_F64();
    for (int i = 0; i < cloud.size(); i++) {
        Point3D_F64 X = cloud.get(i);
        vsba.addTrack(X.x, X.y, X.z, 1.0).hasBeenInlier = true;
    }
    for (int viewidx = 0; viewidx < 5; viewidx++) {
        BFrame frame = vsba.addFrame(viewidx);
        frame.frame_to_world.setTo(-1 + 2.0 * viewidx / 4.0, 0, 0, EulerType.XYZ, rand.nextGaussian() * 0.1, 0, 0);
        // add visible features to each view
        for (int i = 0; i < cloud.size(); i++) {
            Point3D_F64 X = cloud.get(i);
            frame.frame_to_world.transformReverse(X, Xv);
            if (Xv.z <= 0)
                continue;
            n2n.compute(Xv.x / Xv.z, Xv.y / Xv.z, n);
            PerspectiveOps.convertNormToPixel(pinhole, n.x, n.y, p);
            if (!pinhole.isInside(p.x, p.y))
                continue;
            BTrack track = vsba.tracks.get(i);
            vsba.addObservation(frame, track, p.x, p.y);
        }
    }
}

Example 14 with BFrame

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame in project BoofCV by lessthanoptimal.

the class TestVisOdomBundleAdjustment method removeFrame.

@Test
void removeFrame() {
    VisOdomBundleAdjustment<BTrack> alg = createAlgSingleCamera();
    BFrame frameA = alg.addFrame(0);
    BFrame frameB = alg.addFrame(1);
    BTrack trackA = alg.addTrack(1, 2, 3, 4);
    BTrack trackB = alg.addTrack(1, 2, 3, 4);
    BTrack trackC = alg.addTrack(1, 2, 3, 4);
    alg.addObservation(frameA, trackA, 1, 2);
    alg.addObservation(frameA, trackC, 1, 3);
    alg.addObservation(frameB, trackB, 1, 4);
    alg.addObservation(frameB, trackC, 1, 5);
    alg.removeFrame(frameA, new ArrayList<>());
    assertEquals(1, alg.frames.size);
    assertEquals(2, alg.tracks.size);
    assertSame(frameB, alg.frames.get(0));
    assertTrue(alg.tracks.contains(trackB));
    assertTrue(alg.tracks.contains(trackC));
}

Example 15 with BFrame

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BFrame in project BoofCV by lessthanoptimal.

the class TestVisOdomBundleAdjustment method addObservation.

@Test
void addObservation() {
    VisOdomBundleAdjustment<BTrack> alg = createAlgSingleCamera();
    BFrame frameA = alg.addFrame(0);
    BTrack trackA = alg.addTrack(1, 2, 3, 3);
    alg.addObservation(frameA, trackA, 5, 10);
    assertEquals(1, frameA.tracks.size);
    assertEquals(1, trackA.observations.size);
    BObservation obs = trackA.observations.get(0);
    assertSame(frameA, obs.frame);
    assertEquals(0.0, obs.pixel.distance(5, 10), UtilEjml.TEST_F64);
}