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

Example 1 with BObservation

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

the class VisOdomBundlePnPBase method triangulateNotSelectedBundleTracks.

/**
 * Triangulate tracks which were not included in the optimization
 */
protected void triangulateNotSelectedBundleTracks() {
    final int minObservationsTriangulate = this.minObservationsTriangulate;
    for (int trackIdx = 0; trackIdx < bundleViso.tracks.size; trackIdx++) {
        final BTrack bt = bundleViso.tracks.data[trackIdx];
        // results will be unstable
        if (bt.selected || bt.observations.size < minObservationsTriangulate)
            continue;
        observationsNorm.reset();
        listOf_world_to_frame.reset();
        for (int obsIdx = 0; obsIdx < bt.observations.size; obsIdx++) {
            BObservation bo = bt.observations.get(obsIdx);
            CameraModel cm = cameraModels.get(bo.frame.camera.index);
            cm.pixelToNorm.compute(bo.pixel.x, bo.pixel.y, observationsNorm.grow());
            bo.frame.frame_to_world.invert(listOf_world_to_frame.grow());
        // NOTE: This invert could be cached. Doesn't need to be done a million times
        }
        // NOTE: If there is a homogenous metric triangulation added in the future replace this with that
        if (triangulateN.triangulate(observationsNorm.toList(), listOf_world_to_frame.toList(), found3D)) {
            bt.worldLoc.x = found3D.x;
            bt.worldLoc.y = found3D.y;
            bt.worldLoc.z = found3D.z;
            bt.worldLoc.w = 1.0;
        }
    }
}

Example 2 with BObservation

use of boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BObservation 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);
}

Example 3 with BObservation

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

the class MaxGeoKeyFrameManager method selectOldToDiscard.

/**
 * Selects an older frame to discard. If a frame has zero features in common with the current frame it
 * will be selected. After that it scores frames based on how many features it has in common with the other
 * frames, excluding the current frame.
 *
 * @param totalDiscard How many need to be discarded
 */
protected void selectOldToDiscard(VisOdomBundleAdjustment<?> sba, int totalDiscard) {
    if (totalDiscard <= 0 || sba.frames.size < 2)
        return;
    frameToIndex.clear();
    for (int i = 0; i < sba.frames.size; i++) {
        frameToIndex.put(sba.frames.get(i).id, i);
    }
    // Create a histogram showing how observations connect the frames
    final int N = sba.frames.size;
    histogram.reshape(N, N);
    histogram.zero();
    // Skip the last row since it's not needed
    for (int frameIdxA = 0; frameIdxA < N - 1; frameIdxA++) {
        BFrame frame = sba.frames.get(frameIdxA);
        for (int trackIdx = 0; trackIdx < frame.tracks.size; trackIdx++) {
            BTrack track = frame.tracks.get(trackIdx);
            for (int obsIdx = 0; obsIdx < track.observations.size; obsIdx++) {
                BObservation o = track.observations.get(obsIdx);
                int frameIdxB = frameToIndex.get(o.frame.id);
                if (frameIdxA == frameIdxB)
                    continue;
                histogram.increment(frameIdxA, frameIdxB);
            }
        }
    }
    if (verbose != null)
        histogram.print("%4d");
    // See which keyframe the current frame has the best connection with
    // Most of the time it will be the previous frame, but if that was experienced a lot of motion blur it might
    // not be...
    int bestFrame = histogram.maximumRowIdx(N - 1);
    if (verbose != null)
        verbose.println("Frame with best connection to current " + bestFrame);
    // mark it so that it's skipped
    histogram.set(bestFrame, bestFrame, Integer.MAX_VALUE);
    for (int i = 0; i < totalDiscard; i++) {
        // Select the frame with the worst connection to the bestFrame. The reason the bestFrame is used and not
        // the current frame is that the current frame could be blurred too and might get discarded
        int lowestCount = Integer.MAX_VALUE;
        int worstIdx = -1;
        // N-1 to avoid the current frame
        for (int frameIdx = 0; frameIdx < N - 1; frameIdx++) {
            int connection = histogram.get(frameIdx, bestFrame);
            if (connection == Integer.MAX_VALUE)
                continue;
            // influence over the current frame's state and have no direct influence over bestFrame's state
            if (connection == 0) {
                if (verbose != null)
                    verbose.println("No connection index " + frameIdx);
                lowestCount = 0;
                worstIdx = frameIdx;
                break;
            }
            if (connection < lowestCount) {
                lowestCount = connection;
                worstIdx = frameIdx;
            }
        }
        if (verbose != null)
            verbose.println("Worst index " + worstIdx + "  count " + lowestCount);
        discardKeyIndices.add(worstIdx);
        // Mark the worst keyframe so it won't be selected again
        histogram.set(worstIdx, bestFrame, Integer.MAX_VALUE);
    }
}