Examples with CameraPinhole boofcv.struct.calib.CameraPinhole used on opensource projects

Example 91 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class CommonAutoCalibrationChecks method renderRotateTwoAxis.

public void renderRotateTwoAxis(CameraPinhole camera) {
    List<CameraPinhole> cameras = new ArrayList<>();
    for (int i = 0; i < 11; i++) {
        double yaw = Math.PI * i / 9.0;
        double pitch = Math.PI * i / 20.0;
        Se3_F64 cameraToWorld = new Se3_F64();
        ConvertRotation3D_F64.eulerToMatrix(EulerType.YZX, yaw, 0, pitch, cameraToWorld.R);
        listCameraToWorld.add(cameraToWorld);
        cameras.add(camera);
    }
    render(cameras);
}

Example 92 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class TestSelfCalibrationLinearRotationSingle method perfect.

@Test
void perfect() {
    CameraPinhole intrinsic = new CameraPinhole(400, 420, 0.1, 450, 475, 0, 0);
    renderRotationOnly(intrinsic);
    performTest(intrinsic);
}

Example 93 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class CommonTriangulationChecks method createScene.

public void createScene(Point4D_F64 point) {
    worldPointH = point.copy();
    PerspectiveOps.homogenousTo3dPositiveZ(point, Double.MAX_VALUE, 1e-16, worldPoint);
    motionWorldToCamera = new ArrayList<>();
    obsNorm = new ArrayList<>();
    obsPixels = new ArrayList<>();
    essential = new ArrayList<>();
    fundamental = new ArrayList<>();
    cameraMatrices = new ArrayList<>();
    CameraPinhole dummyIntrinsic = new CameraPinhole(1.0, 1.0, 0.0, 0.0, 0.0, 0, 0);
    for (int i = 0; i < N; i++) {
        // random motion from world to frame 'i'
        Se3_F64 world_to_view = new Se3_F64();
        if (i > 0) {
            world_to_view.getR().setTo(ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, rand.nextGaussian() * 0.01, rand.nextGaussian() * 0.05, rand.nextGaussian() * 0.1, null));
            world_to_view.getT().setTo(0.2 + rand.nextGaussian() * 0.1, rand.nextGaussian() * 0.1, rand.nextGaussian() * 0.01);
        }
        DMatrixRMaj E = MultiViewOps.createEssential(world_to_view.getR(), world_to_view.getT(), null);
        DMatrixRMaj F = MultiViewOps.createFundamental(E, intrinsic);
        Point2D_F64 norm = PerspectiveOps.renderPixel(world_to_view, dummyIntrinsic, worldPointH, null);
        Point2D_F64 pixel = PerspectiveOps.renderPixel(world_to_view, intrinsic, worldPointH, null);
        obsNorm.add(norm);
        obsPixels.add(pixel);
        motionWorldToCamera.add(world_to_view);
        essential.add(E);
        fundamental.add(F);
        cameraMatrices.add(PerspectiveOps.createCameraMatrix(world_to_view.R, world_to_view.T, K, null));
    }
}

Example 94 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class CommonThreeViewSelfCalibration method simulateScene.

protected void simulateScene(double noiseSigma) {
    List<CameraPinhole> cameras = BoofMiscOps.asList(cameraA, cameraB, cameraC);
    cloud = new ArrayList<>();
    observationsN = new ArrayList<>();
    observations3 = new ArrayList<>();
    observations2 = new ArrayList<>();
    projective = new ArrayList<>();
    cloud = UtilPoint3D_F64.random(-1, 1, numFeatures, rand);
    BoofMiscOps.forIdx(list_world_to_cameras, (idx, world_to_camera) -> {
        DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(cameras.get(idx), (DMatrixRMaj) null);
        projective.add(PerspectiveOps.createCameraMatrix(world_to_camera.R, world_to_camera.T, K, null));
    });
    for (Point3D_F64 X : cloud) {
        AssociatedTriple a = new AssociatedTriple();
        PerspectiveOps.renderPixel(list_world_to_cameras.get(0), cameraA, X, a.p1);
        PerspectiveOps.renderPixel(list_world_to_cameras.get(1), cameraB, X, a.p2);
        PerspectiveOps.renderPixel(list_world_to_cameras.get(2), cameraC, X, a.p3);
        a.p1.x += rand.nextGaussian() * noiseSigma;
        a.p1.y += rand.nextGaussian() * noiseSigma;
        a.p2.x += rand.nextGaussian() * noiseSigma;
        a.p2.y += rand.nextGaussian() * noiseSigma;
        a.p3.x += rand.nextGaussian() * noiseSigma;
        a.p3.y += rand.nextGaussian() * noiseSigma;
        observations3.add(a);
        observations2.add(new AssociatedPair(a.p1, a.p2));
        observationsN.add(new AssociatedTupleN(a.p1, a.p2, a.p3));
    }
    // When input is noisy so will the trifocal tensor be
    Estimate1ofTrifocalTensor estimator = FactoryMultiView.trifocal_1(null);
    estimator.process(observations3, tensor);
    // The method of creating a trifocal tensor was found to cause a unit test to fail due to numerical instability
    // other less sensitive methods did pass using it though
    // MultiViewOps.createTrifocal(projective.get(0),projective.get(1),projective.get(2),tensor);
    MultiViewOps.trifocalToCameraMatrices(tensor, P2, P3);
    MultiViewOps.trifocalToFundamental(tensor, F21, F31);
}

Example 95 with CameraPinhole

use of boofcv.struct.calib.CameraPinhole in project BoofCV by lessthanoptimal.

the class TestRefineDualQuadraticAlgebraicError method setState.

private void setState(RefineDualQuadraticAlgebraicError alg, List<CameraPinhole> noisy, double px, double py, double pz) {
    alg.initialize(noisy.size(), listP.size());
    for (int i = 0; i < listP.size(); i++) {
        alg.setProjective(i, listP.get(i));
    }
    for (int i = 0; i < noisy.size(); i++) {
        CameraPinhole c = noisy.get(i);
        alg.setCamera(i, c.fx, c.cx, c.cy, c.fy / c.fx);
    }
    alg.setPlaneAtInfinity(px, py, pz);
    if (listP.size() == noisy.size()) {
        for (int i = 0; i < listP.size(); i++) {
            alg.setViewToCamera(i, i);
        }
    } else {
        for (int i = 0; i < listP.size(); i++) {
            alg.setViewToCamera(i, 0);
        }
    }
}