Examples with Motion boofcv.alg.structure.PairwiseImageGraph.Motion used on opensource projects

Example 6 with Motion

use of boofcv.alg.structure.PairwiseImageGraph.Motion in project BoofCV by lessthanoptimal.

the class ProjectiveInitializeAllCommon method findRemainingCameraMatrices.

/**
 * Uses the triangulated points and observations in the root view to estimate the camera matrix for
 * all the views which are remaining. We are assuming that outliers have already been removed.
 *
 * @param seedConnIdx (Input) Specifies which connections in 'seed.connections' are to be used.
 * @return true if successful or false if not
 */
boolean findRemainingCameraMatrices(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, View seed, DogArray_I32 seedConnIdx) {
    int numInliers = inlierIndexes.get(0).size;
    BoofMiscOps.checkTrue(numInliers == utils.inliersThreeView.size());
    // Look up the 3D coordinates of features from the scene's structure previously computed
    // points in 3D
    points3D.reset();
    for (int i = 0; i < utils.structure.points.size; i++) {
        utils.structure.points.data[i].get(points3D.grow());
    }
    // contains associated pairs of pixel observations
    // save a call to db by using the previously loaded points for the seed view
    assocPixel.resize(numInliers);
    for (int i = 0; i < numInliers; i++) {
        // inliers from triple RANSAC
        // each of these inliers was declared a feature in the world reference frame
        assocPixel.get(i).p1.setTo(utils.inliersThreeView.get(i).p1);
    }
    var cameraMatrix = new DMatrixRMaj(3, 4);
    for (int motionIdx = 0; motionIdx < seedConnIdx.size; motionIdx++) {
        int connectionIdx = seedConnIdx.get(motionIdx);
        // skip views already in the scene's structure
        if (connectionIdx == selectedTriple[0] || connectionIdx == selectedTriple[1])
            continue;
        Motion edge = seed.connections.get(connectionIdx);
        View viewI = edge.other(seed);
        // Lookup pixel locations of features in the connected view
        dbCams.lookupCalibration(viewI.id, utils.priorCamB);
        dbSimilar.lookupPixelFeats(viewI.id, utils.featsB);
        BoofMiscOps.offsetPixels(utils.featsB.toList(), -utils.priorCamB.cx, -utils.priorCamB.cy);
        if (!computeCameraMatrix(seed, edge, utils.featsB, cameraMatrix)) {
            if (verbose != null)
                verbose.println("Pose estimator failed! view='" + viewI.id + "'");
            // TODO skip over this view instead
            return false;
        }
        if (verbose != null)
            verbose.println("Expanded initial scene to include view='" + viewI.id + "'");
        // ---------------------------------------------------------------------------
        // Add all the information from this view to SBA data structure
        int indexSbaView = motionIdx + 1;
        // image information and found camera matrix
        dbCams.lookupViewShape(edge.other(seed).id, shape);
        utils.structure.setView(indexSbaView, false, cameraMatrix, shape.width, shape.height);
        // observation of features
        SceneObservations.View sbaObsView = utils.observations.getView(indexSbaView);
        checkTrue(sbaObsView.size() == 0, "Must be reset to initial state first");
        for (int i = 0; i < numInliers; i++) {
            Point2D_F64 p = assocPixel.get(i).p2;
            sbaObsView.add(i, (float) p.x, (float) p.y);
        }
        viewsByStructureIndex.set(indexSbaView, viewI);
    }
    return true;
}

Example 7 with Motion

use of boofcv.alg.structure.PairwiseImageGraph.Motion in project BoofCV by lessthanoptimal.

the class TestExpandByOneView method selectTwoConnections.

/**
 * Creates a more complex scenario and sees if it selects the correct two views
 */
@Test
void selectTwoConnections() {
    var working = new SceneWorkingGraph();
    var graph = new PairwiseImageGraph();
    SceneWorkingGraph.Camera camera = working.addCamera(2);
    View seed = graph.createNode("A");
    for (int i = 0; i < 6; i++) {
        View viewI = graph.createNode("" + i);
        // make sure src/dst is handled correctly
        Motion mA = i % 2 == 0 ? graph.connect(seed, viewI) : graph.connect(viewI, seed);
        // All have the same score so that the connections between the other two is what decides the winner
        mA.score3D = 2.0;
        mA.is3D = true;
        working.addView(viewI, camera);
    }
    View viewB = seed.connection(1);
    View viewC = seed.connection(2);
    View viewD = seed.connection(3);
    Motion connBC = graph.connect(viewB, viewC);
    Motion connBD = graph.connect(viewD, viewB);
    connBD.is3D = connBC.is3D = true;
    connBC.score3D = 1.2;
    // this is the more desirable connection
    connBD.score3D = 1.3;
    var alg = new ChildProjectiveExpandByOneView();
    alg.workGraph = working;
    var found = new ArrayList<Motion>();
    assertTrue(alg.selectTwoConnections(seed, found));
    assertTrue(found.contains(seed.connections.get(1)));
    assertTrue(found.contains(seed.connections.get(3)));
}

Example 8 with Motion

use of boofcv.alg.structure.PairwiseImageGraph.Motion in project BoofCV by lessthanoptimal.

the class TestProjectiveInitializeAllCommon method selectInitialTriplet.

@Test
void selectInitialTriplet() {
    // Set up a view graph with several valid options
    var seed = new View();
    for (int i = 0; i < 6; i++) {
        View view = new View();
        Motion motion = new Motion();
        // sanity check that it handles src/dst correctly
        motion.src = i % 2 == 0 ? seed : view;
        motion.dst = i % 2 == 0 ? view : seed;
        motion.score3D = (100 + i) / 50.0;
        seed.connections.add(motion);
    }
    // need to make a complete loop
    for (int i = 1; i < 6; i++) {
        Motion motion = new Motion();
        motion.src = seed.connections.get(i - 1).other(seed);
        motion.dst = seed.connections.get(i).other(seed);
        motion.score3D = 50.0 / 30.0;
        motion.src.connections.add(motion);
        motion.dst.connections.add(motion);
    }
    // Select the results
    var alg = new ProjectiveInitializeAllCommon();
    // skip one to see if it uses this list
    DogArray_I32 edgeIdxs = DogArray_I32.array(0, 2, 3, 4, 5);
    int[] selected = new int[2];
    alg.selectInitialTriplet(seed, edgeIdxs, selected);
    assertEquals(4, selected[0]);
    assertEquals(5, selected[1]);
}

Example 9 with Motion

use of boofcv.alg.structure.PairwiseImageGraph.Motion in project BoofCV by lessthanoptimal.

the class TestProjectiveInitializeAllCommon method removeConnectionOutliers.

private void removeConnectionOutliers(View seed, DogArray_I32 seedFeatsIdx) {
    for (Motion m : seed.connections.toList()) {
        // mark all indexes which are inliers
        boolean isSrc = m.src == seed;
        boolean[] inlier = new boolean[seed.totalObservations];
        for (AssociatedIndex a : m.inliers.toList()) {
            inlier[isSrc ? a.src : a.dst] = true;
        }
        // remove the outliers
        for (int i = 0; i < inlier.length; i++) {
            if (!inlier[i]) {
                int idx = seedFeatsIdx.indexOf(i);
                if (idx >= 0)
                    seedFeatsIdx.remove(idx);
            }
        }
    }
}

Example 10 with Motion

use of boofcv.alg.structure.PairwiseImageGraph.Motion in project BoofCV by lessthanoptimal.

the class TestProjectiveInitializeAllCommon method scoreTripleView_NotCircle.

/**
 * Give it a set of three views which are not mutually connected in a complete circle
 */
@Test
void scoreTripleView_NotCircle() {
    var alg = new ProjectiveInitializeAllCommon();
    View seedA = new View();
    View viewB = new View();
    View viewC = new View();
    Motion motionAB = new Motion();
    motionAB.src = seedA;
    motionAB.dst = viewB;
    // give it an excellent 3D score
    motionAB.score3D = 1000;
    Motion motionAC = new Motion();
    motionAC.src = viewC;
    // src/dst shouldn't matter. bonus check
    motionAC.dst = seedA;
    // give it an excellent 3D score
    motionAC.score3D = 1000;
    seedA.connections.add(motionAB);
    viewB.connections.add(motionAB);
    seedA.connections.add(motionAC);
    viewC.connections.add(motionAC);
    // No connection B to C is made
    assertEquals(0.0, alg.scoreTripleView(seedA, viewB, viewC), UtilEjml.TEST_F64);
}