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

Example 11 with View

use of boofcv.alg.structure.PairwiseImageGraph.View 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 12 with View

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

the class TestProjectiveInitializeAllCommon method createObservationsForBundleAdjustment.

@Test
void createObservationsForBundleAdjustment() {
    var dbSimilar = new MockLookupSimilarImages(5, 0xDEADBEEF);
    var dbCams = new MockLookUpCameraInfo(dbSimilar.intrinsic);
    PairwiseImageGraph graph = dbSimilar.graph;
    View seed = graph.nodes.get(0);
    // which edges in the first view should be considered
    DogArray_I32 motionIndexes = DogArray_I32.array(0, 2, 3);
    var alg = new ProjectiveInitializeAllCommon();
    alg.utils.dbSimilar = dbSimilar;
    alg.utils.dbCams = dbCams;
    alg.utils.seed = seed;
    // ------------------------------ Initialize internal data structures
    // make every other feature an inlier
    alg.seedToStructure.resize(dbSimilar.feats3D.size());
    alg.seedToStructure.fill(-1);
    DogArray_I32 inlierToSeed = alg.inlierIndexes.grow();
    for (int i = 0; i < dbSimilar.feats3D.size(); i += 2) {
        alg.seedToStructure.data[i] = inlierToSeed.size;
        inlierToSeed.add(i);
    }
    dbSimilar.lookupPixelFeats(seed.id, alg.utils.featsA);
    // Call the function being tested
    // allocate for rest of the views
    alg.inlierIndexes.resize(motionIndexes.size + 1);
    alg.createObservationsForBundleAdjustment(motionIndexes);
    SceneObservations found = alg.utils.observations;
    found.checkOneObservationPerView();
    // Check to see if there's the expected number of views
    assertFalse(found.hasRigid());
    // seed + 3 connected views
    assertEquals(4, found.views.size);
    for (int i = 0; i < 4; i++) {
        SceneObservations.View view = found.views.get(i);
        assertEquals(inlierToSeed.size, view.size());
        for (int j = 0; j < view.size(); j++) {
            // crude sanity check on the index
            assertTrue(view.getPointId(j) < inlierToSeed.size);
        }
    }
// Not doing a detailed check of the values since that will be very complex
}

Example 13 with View

use of boofcv.alg.structure.PairwiseImageGraph.View 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 14 with View

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

the class TestProjectiveInitializeAllCommon method perfect_connections_3_to_5.

/**
 * Perfect scene with 3 to 5 connections
 */
@Test
void perfect_connections_3_to_5() {
    var alg = new ProjectiveInitializeAllCommon();
    for (int numConnections = 3; numConnections <= 6; numConnections++) {
        // do a few trials since things are randomized to shake out more bugs potentially
        for (int trial = 0; trial < 3; trial++) {
            var dbSimilar = new MockLookupSimilarImagesRealistic().pathCircle(6, 2);
            var dbCams = new MockLookUpCameraInfo(dbSimilar.intrinsic);
            List<String> viewIdStr = dbSimilar.getImageIDs();
            PairwiseImageGraph graph = dbSimilar.createPairwise();
            View seed = graph.nodes.get(0);
            // randomly select the connections
            var seedConnIdx = new DogArray_I32();
            for (int i = 0; i < seed.connections.size; i++) {
                seedConnIdx.add(i);
            }
            for (int i = 0; i < seed.connections.size - numConnections; i++) {
                seedConnIdx.remove(rand.nextInt(seedConnIdx.size));
            }
            // order should not matter
            PrimitiveArrays.shuffle(seedConnIdx.data, 0, seedConnIdx.size, rand);
            // index of connected views in ground truth
            var connectedViewidx = new DogArray_I32();
            for (int i = 0; i < seedConnIdx.size; i++) {
                String id = seed.connections.get(seedConnIdx.get(i)).other(seed).id;
                connectedViewidx.add(viewIdStr.indexOf(id));
            }
            // in this specific scenario all features are visible by all frames
            var seedFeatsIdx = DogArray_I32.range(0, dbSimilar.numFeatures);
            // however not all features are in the inlier set. Remove all features not in inlier set
            removeConnectionOutliers(seed, seedFeatsIdx);
            // order should not matter
            PrimitiveArrays.shuffle(seedFeatsIdx.data, 0, seedFeatsIdx.size, rand);
            // Reconstruct the projective scene
            assertTrue(alg.projectiveSceneN(dbSimilar, dbCams, seed, seedFeatsIdx, seedConnIdx));
            // test results
            checkReconstruction(alg, dbSimilar, seedConnIdx, reprojectionTol);
        }
    }
}

Example 15 with View

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

the class TestProjectiveInitializeAllCommon method checkCameraMatrices.

/**
 * Check camera matrices directly by computing a matrix which allows direct comparision of the two sets
 */
private void checkCameraMatrices(ProjectiveInitializeAllCommon alg, MockLookupSimilarImagesRealistic db) {
    List<DMatrixRMaj> listA = new ArrayList<>();
    List<DMatrixRMaj> listB = new ArrayList<>();
    // Undo the shift in pixel coordinates
    DMatrixRMaj M = CommonOps_DDRM.identity(3);
    M.set(0, 2, db.intrinsic.cx);
    M.set(1, 2, db.intrinsic.cy);
    List<String> viewIds = BoofMiscOps.collectList(db.views, v -> v.id);
    for (int i = 0; i < 3; i++) {
        View view = alg.getPairwiseGraphViewByStructureIndex(i);
        DMatrixRMaj P = new DMatrixRMaj(3, 4);
        CommonOps_DDRM.mult(M, alg.utils.structure.views.get(i).worldToView, P);
        listA.add(P);
        int viewDbIdx = viewIds.indexOf(view.id);
        listB.add(db.views.get(viewDbIdx).camera);
    }
    DMatrixRMaj H = new DMatrixRMaj(4, 4);
    CompatibleProjectiveHomography compatible = new CompatibleProjectiveHomography();
    assertTrue(compatible.fitCameras(listA, listB, H));
    DMatrixRMaj found = new DMatrixRMaj(3, 4);
    for (int i = 0; i < listA.size(); i++) {
        CommonOps_DDRM.mult(listA.get(i), H, found);
        DMatrixRMaj expected = listB.get(i);
        double scale = expected.get(0, 0) / found.get(0, 0);
        CommonOps_DDRM.scale(scale, found);
        assertTrue(MatrixFeatures_DDRM.isEquals(expected, found, matrixTol));
    }
}