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

Example 21 with CameraPinholeBrown

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

the class TestStereoProcessingBase method createStereoParam.

public static StereoParameters createStereoParam(int width, int height) {
    StereoParameters ret = new StereoParameters();
    ret.setRightToLeft(new Se3_F64());
    ret.getRightToLeft().getT().setTo(-0.2, 0.001, -0.012);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.001, -0.01, 0.0023, ret.getRightToLeft().getR());
    ret.left = new CameraPinholeBrown().fsetK(300, 320, 0, width / 2, height / 2, width, height).fsetRadial(0.1, 1e-4);
    ret.right = new CameraPinholeBrown().fsetK(290, 310, 0, width / 2 + 2, height / 2 - 6, width, height).fsetRadial(0.05, -2e-4);
    return ret;
}

Example 22 with CameraPinholeBrown

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

the class ChecksVisOdomKeyFrameManager method createScene.

public VisOdomBundleAdjustment<BTrack> createScene() {
    VisOdomBundleAdjustment<BTrack> scene = new VisOdomBundleAdjustment<>(BTrack::new);
    scene.addCamera(new CameraPinholeBrown(0, 0, 0, 0, 0, width, height));
    return scene;
}

Example 23 with CameraPinholeBrown

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

the class TestSelectTracksInFrameForBundleAdjustment method initializeGrid.

@Test
void initializeGrid() {
    var scene = new VisOdomBundleAdjustment<>(BTrack::new);
    var alg = new SelectTracksInFrameForBundleAdjustment(0xBEEF);
    alg.minTrackObservations = 1;
    scene.addCamera(new CameraPinholeBrown(0, 0, 0, 0, 0, width, height));
    for (int i = 0; i < 3; i++) {
        scene.addFrame(i);
    }
    BFrame targetFrame = scene.frames.get(2);
    // create enough tracks for there to be one in each cell
    connectFrames(1, 2, 200, scene);
    for (int i = 0; i < scene.tracks.size; i++) {
        BTrack track = scene.tracks.get(i);
        // pixel coordinates
        int x = (i * 10) % width;
        int y = 10 * ((i * 10) / width);
        // make sure it's false. should be already
        track.selected = false;
        track.findObservationBy(targetFrame).pixel.setTo(x, y);
    }
    // mark this one as active so that it isn't added to a cell. There should only be one empty cell
    scene.tracks.get(2).selected = true;
    // run it
    alg.initializeGrid(targetFrame, width, height, 10);
    // There should be one track in all but one cell
    for (int i = 0; i < alg.grid.cells.size; i++) {
        Info cell = alg.grid.cells.get(i);
        if (i != 2) {
            assertEquals(0, cell.alreadySelected);
            assertEquals(1, cell.unselected.size());
            assertSame(scene.tracks.get(i), cell.unselected.get(0));
        } else {
            assertEquals(1, cell.alreadySelected);
            assertEquals(0, cell.unselected.size());
        }
    }
}

Example 24 with CameraPinholeBrown

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

the class TestBaseDetectFiducialSquare method noLensSpecified.

@Test
void noLensSpecified() {
    int width = 640, height = 640;
    CameraPinholeBrown intrinsic = new CameraPinholeBrown(500, 500, 0, width / 2, height / 2, width, height);
    checkDetectRender(width, height, intrinsic, false);
}

Example 25 with CameraPinholeBrown

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

the class GenericDetectSingleFiducialCalibrationChecks method pinhole_radial_fullview.

/**
 * Simulated scene using a pinhole camera model with radial distortion. Entire target is visible
 */
@Test
void pinhole_radial_fullview() {
    CameraPinholeBrown model = CalibrationIO.load(getClass().getResource("pinhole_radial.yaml"));
    SimulatePlanarWorld simulator = new SimulatePlanarWorld();
    simulator.setCamera(model);
    List<Point2D_F64> locations2D = new ArrayList<>();
    GrayF32 pattern = new GrayF32(1, 1);
    for (int i = 0; i < targetConfigs.size(); i++) {
        // System.out.println("*---------- Configuration "+i);
        failedToDetect = 0;
        DetectSingleFiducialCalibration detector = createDetector(targetConfigs.get(i));
        renderTarget(targetConfigs.get(i), simulatedTargetWidth, pattern, locations2D);
        simulator.resetScene();
        Se3_F64 markerToWorld = new Se3_F64();
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI, 0, markerToWorld.R);
        simulator.addSurface(markerToWorld, simulatedTargetWidth, pattern);
        // up close exploding - center
        markerToWorld.T.setTo(0, 0, 0.5);
        checkRenderedResults(detector, simulator, locations2D);
        // farther away centered
        markerToWorld.T.setTo(0, 0, 1);
        checkRenderedResults(detector, simulator, locations2D);
        markerToWorld.T.setTo(-0.33, 0, 1);
        checkRenderedResults(detector, simulator, locations2D);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI - 1, 0, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI - 1, 0.8, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
        markerToWorld.T.setTo(-0.33, 0.33, 1);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, Math.PI - 1, 0.8, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
        markerToWorld.T.setTo(0, -0.20, 1);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.8, Math.PI, 0.8, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.8, Math.PI, 1.8, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
        markerToWorld.T.setTo(0, -0.15, 1);
        ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.2, Math.PI, 2.4, markerToWorld.getR());
        checkRenderedResults(detector, simulator, locations2D);
    }
    assertEquals(0, failedToDetect);
}