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

Example 36 with CameraPinhole

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

the class TestMultiViewOps method triangulatePoints.

/**
 * Construct a scene with perfect observations. See if triangulation returns the same points
 */
@Test
void triangulatePoints() {
    CameraPinhole intrinsic = new CameraPinhole(500, 500, 0, 500, 500, 1000, 1000);
    List<Point3D_F64> points = UtilPoint3D_F64.random(new Point3D_F64(0, 0, 2), -0.5, 0.5, 100, rand);
    Se3_F64 view0_to_view1 = SpecialEuclideanOps_F64.eulerXyz(0.3, 0, 0, 0.1, -0.1, 0, null);
    SceneStructureMetric structure = new SceneStructureMetric(false);
    SceneObservations observations = new SceneObservations();
    observations.initialize(2);
    structure.initialize(1, 2, points.size());
    structure.setCamera(0, true, intrinsic);
    structure.setView(0, 0, true, new Se3_F64());
    structure.setView(1, 0, false, view0_to_view1);
    SceneObservations.View v0 = observations.getView(0);
    SceneObservations.View v1 = observations.getView(1);
    for (int i = 0; i < points.size(); i++) {
        Point3D_F64 X = points.get(i);
        Point2D_F64 p0 = PerspectiveOps.renderPixel(intrinsic, X, null);
        Point2D_F64 p1 = PerspectiveOps.renderPixel(view0_to_view1, intrinsic, X, null);
        v0.add(i, (float) p0.x, (float) p0.y);
        v1.add(i, (float) p1.x, (float) p1.y);
        structure.connectPointToView(i, 0);
        structure.connectPointToView(i, 1);
    }
    MultiViewOps.triangulatePoints(structure, observations);
    Point3D_F64 X = new Point3D_F64();
    for (int i = 0; i < points.size(); i++) {
        structure.getPoints().get(i).get(X);
        assertEquals(0, points.get(i).distance(X), UtilEjml.TEST_F64_SQ);
    }
}

Example 37 with CameraPinhole

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

the class TestMultiViewOps method intrinsicFromAbsoluteQuadratic.

@Test
void intrinsicFromAbsoluteQuadratic() {
    Equation eq = new Equation();
    eq.process("K1=[300 1 50;0 310 60; 0 0 1]");
    eq.process("K2=[310 1 75;0 310 60; 0 0 1]");
    eq.process("p=rand(3,1)");
    eq.process("u=-p'*K1");
    eq.process("H=[K1 [0;0;0]; u 1]");
    // very simplistic P
    eq.process("P=K2*[eye(3) [1;2;3]]");
    // back to projective
    eq.process("P=P*inv(H)");
    eq.process("Q=-1.1*H*diag([1 1 1 0])*H'");
    DMatrixRMaj P = eq.lookupDDRM("P");
    DMatrixRMaj Q = eq.lookupDDRM("Q");
    CameraPinhole intrinsic = new CameraPinhole();
    MultiViewOps.intrinsicFromAbsoluteQuadratic(Q, P, intrinsic);
    assertEquals(310, intrinsic.fx, 1e-6);
    assertEquals(310, intrinsic.fy, 1e-6);
    assertEquals(75, intrinsic.cx, 1e-6);
    assertEquals(60, intrinsic.cy, 1e-6);
    assertEquals(1, intrinsic.skew, 1e-6);
}

Example 38 with CameraPinhole

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

the class TestPerspectiveOps method estimatePinhole.

/**
 * Test using a known pinhole model which fits its assumptions perfectly
 */
@Test
void estimatePinhole() {
    CameraPinhole expected = new CameraPinhole(500, 550, 0, 600, 700, 1200, 1400);
    Point2Transform2_F64 pixelToNorm = new LensDistortionPinhole(expected).distort_F64(true, false);
    CameraPinhole found = PerspectiveOps.estimatePinhole(pixelToNorm, expected.width, expected.height);
    assertEquals(expected.fx, found.fx, UtilEjml.TEST_F64);
    assertEquals(expected.fy, found.fy, UtilEjml.TEST_F64);
    assertEquals(expected.cx, found.cx, UtilEjml.TEST_F64);
    assertEquals(expected.cy, found.cy, UtilEjml.TEST_F64);
    assertEquals(expected.skew, found.skew, UtilEjml.TEST_F64);
    assertEquals(expected.width, found.width);
    assertEquals(expected.height, found.height);
}

Example 39 with CameraPinhole

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

the class TestPerspectiveOps method matrixToPinhole_D.

@Test
void matrixToPinhole_D() {
    double fx = 1;
    double fy = 2;
    double skew = 3;
    double cx = 4;
    double cy = 5;
    DMatrixRMaj K = new DMatrixRMaj(3, 3, true, fx, skew, cx, 0, fy, cy, 0, 0, 1);
    CameraPinhole ret = PerspectiveOps.matrixToPinhole(K, 100, 200, null);
    assertEquals(ret.fx, fx, 1.1);
    assertEquals(ret.fy, fy);
    assertEquals(ret.skew, skew);
    assertEquals(ret.cx, cx);
    assertEquals(ret.cy, cy);
    assertEquals(100, ret.width);
    assertEquals(200, ret.height);
}

Example 40 with CameraPinhole

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

the class TestPerspectiveOps method guessIntrinsic_two.

@Test
void guessIntrinsic_two() {
    double hfov = 30;
    double vfov = 35;
    CameraPinhole found = PerspectiveOps.createIntrinsic(640, 480, hfov, vfov, null);
    assertEquals(UtilAngle.degreeToRadian(hfov), 2.0 * Math.atan(found.cx / found.fx), 1e-6);
    assertEquals(UtilAngle.degreeToRadian(vfov), 2.0 * Math.atan(found.cy / found.fy), 1e-6);
}