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

Example 91 with CameraPinholeBrown

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

the class GenericFiducialDetectorChecks method modifyInput.

/**
 * Makes sure the input is not modified
 */
@Test
void modifyInput() {
    CameraPinholeBrown intrinsic = loadDistortion(true);
    LensDistortionBrown lensDistorted = new LensDistortionBrown(intrinsic);
    for (ImageType type : types) {
        ImageBase image = renderImage(intrinsic, type);
        ImageBase orig = image.clone();
        FiducialDetector detector = createDetector(type);
        detector.setLensDistortion(lensDistorted, image.width, image.height);
        detect(detector, image);
        BoofTesting.assertEquals(image, orig, 0);
    }
}

Example 92 with CameraPinholeBrown

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

the class GenericMicroQrCodeDetectorChecks method skewed.

/**
 * The marker is at a skewed angle and rotating
 */
@Test
void skewed() {
    MicroQrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeBrown model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    var simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    Se3_F64 markerToWorld = new Se3_F64();
    simulator.addSurface(markerToWorld, simulatedTargetWidth, generateMarker());
    markerToWorld.T.setTo(0, 0, 0.5);
    for (int i = 0; i < 30; i++) {
        double roll = 2 * Math.PI * i / 30.0;
        double pitch = Math.PI * 0.3;
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, pitch, Math.PI, roll, markerToWorld.R);
        renderAndCheck(detector, simulator);
    }
}

Example 93 with CameraPinholeBrown

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

the class GenericMicroQrCodeDetectorChecks method scale.

/**
 * The marker zooming in and out of the frame
 */
@Test
void scale() {
    MicroQrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeBrown model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    var simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    Se3_F64 markerToWorld = new Se3_F64();
    simulator.addSurface(markerToWorld, simulatedTargetWidth, generateMarker());
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI, 0, markerToWorld.R);
    markerToWorld.T.setTo(0, 0, 0.4);
    for (int i = 0; i < 30; i++) {
        renderAndCheck(detector, simulator);
        markerToWorld.T.z += 0.03;
    }
}

Example 94 with CameraPinholeBrown

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

the class GenericMicroQrCodeDetectorChecks method multipleMarkers.

/**
 * See if it can detect multiple fiducials in the image at the same time
 */
@Test
void multipleMarkers() {
    MicroQrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeBrown model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    var simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    var markerToWorld0 = new Se3_F64();
    var markerToWorld1 = new Se3_F64();
    simulator.addSurface(markerToWorld0, simulatedTargetWidth, generateMarker());
    simulator.addSurface(markerToWorld1, simulatedTargetWidth, generateMarker());
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI, 0, markerToWorld0.R);
    markerToWorld0.T.setTo(0.2, 0, 0.6);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI, 0, markerToWorld1.R);
    markerToWorld1.T.setTo(-0.2, 0, 0.6);
    simulator.render();
    detector.process(simulator.getOutput());
    if (display) {
        ShowImages.showWindow(simulator.getOutput(), ShowImages.Colorization.MAGNITUDE, "Foo", true);
        BoofMiscOps.sleep(10000);
    }
    List<MicroQrCode> detections = detector.getDetections();
    assertEquals(2, detections.size());
}

Example 95 with CameraPinholeBrown

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

the class GenericMicroQrCodeDetectorChecks method rotation.

/**
 * See if a clear well defined qr code can be detected while rating
 */
@Test
void rotation() {
    MicroQrCodeDetector<GrayF32> detector = createDetector();
    CameraPinholeBrown model = CalibrationIO.load(getClass().getResource("calib/pinhole_radial.yaml"));
    SimulatePlanarWorld simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    simulator.resetScene();
    Se3_F64 markerToWorld = new Se3_F64();
    simulator.addSurface(markerToWorld, simulatedTargetWidth, generateMarker());
    markerToWorld.T.setTo(0, 0, 0.5);
    for (int i = 0; i < 30; i++) {
        double roll = 2 * Math.PI * i / 30.0;
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI, roll, markerToWorld.R);
        renderAndCheck(detector, simulator);
    }
}