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

Example 11 with StereoParameters

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

the class TestPnPStereoDistanceReprojectionSq method checkBehind.

public void checkBehind(double Tz, double Pz) {
    // Point location in world frame
    Point3D_F64 X = new Point3D_F64(0.1, -0.04, Pz);
    DMatrixRMaj K_left = PerspectiveOps.calibrationMatrix(param.left, (DMatrixRMaj) null);
    DMatrixRMaj K_right = PerspectiveOps.calibrationMatrix(param.right, (DMatrixRMaj) null);
    // create a noisy observed
    Point2D_F64 obsLeft = PerspectiveOps.renderPixel(worldToLeft, K_left, X);
    Point2D_F64 obsRight = PerspectiveOps.renderPixel(worldToRight, K_right, X);
    // convert to normalized image coordinates
    PerspectiveOps.convertPixelToNorm(K_left, obsLeft, obsLeft);
    PerspectiveOps.convertPixelToNorm(K_right, obsRight, obsRight);
    PnPStereoDistanceReprojectionSq alg = new PnPStereoDistanceReprojectionSq();
    StereoParameters param = new StereoParameters(this.param.left, this.param.right, new Se3_F64());
    param.rightToLeft.getT().set(0.1, 0, Tz);
    alg.setStereoParameters(param);
    alg.setModel(new Se3_F64());
    double found = alg.computeDistance(new Stereo2D3D(obsLeft, obsRight, X));
    assertTrue(Double.MAX_VALUE == found);
}

Example 12 with StereoParameters

use of boofcv.struct.calib.StereoParameters 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().set(-0.2, 0.001, -0.012);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.001, -0.01, 0.0023, ret.getRightToLeft().getR());
    ret.left = new CameraPinholeRadial().fsetK(300, 320, 0, width / 2, height / 2, width, height).fsetRadial(0.1, 1e-4);
    ret.right = new CameraPinholeRadial().fsetK(290, 310, 0, width / 2 + 2, height / 2 - 6, width, height).fsetRadial(0.05, -2e-4);
    return ret;
}

Example 13 with StereoParameters

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

the class TestStereoProcessingBase method compute3D.

@Test
public void compute3D() {
    // point being viewed
    Point3D_F64 X = new Point3D_F64(-0.01, 0.1, 3);
    StereoParameters param = createStereoParam(width, height);
    DMatrixRMaj K = PerspectiveOps.calibrationMatrix(param.left, (DMatrixRMaj) null);
    // compute the view in pixels of the point in the left and right cameras
    Point2D_F64 lensLeft = new Point2D_F64();
    Point2D_F64 lensRight = new Point2D_F64();
    SfmTestHelper.renderPointPixel(param, X, lensLeft, lensRight);
    StereoProcessingBase<GrayU8> alg = new StereoProcessingBase<>(GrayU8.class);
    alg.setCalibration(param);
    // Rectify the points
    Point2Transform2_F64 rectLeft = RectifyImageOps.transformPixelToRect(param.left, alg.getRect1());
    Point2Transform2_F64 rectRight = RectifyImageOps.transformPixelToRect(param.right, alg.getRect2());
    Point2D_F64 l = new Point2D_F64();
    Point2D_F64 r = new Point2D_F64();
    rectLeft.compute(lensLeft.x, lensLeft.y, l);
    rectRight.compute(lensRight.x, lensRight.y, r);
    // make sure I rectified it correctly
    assertEquals(l.y, r.y, 1);
    // find point in homogeneous coordinates
    Point3D_F64 found = new Point3D_F64();
    alg.computeHomo3D(l.x, l.y, found);
    // disparity between the two images
    double disparity = l.x - r.x;
    found.x /= disparity;
    found.y /= disparity;
    found.z /= disparity;
    assertTrue(found.isIdentical(X, 0.01));
}

Example 14 with StereoParameters

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

the class TestStereoProcessingBase method checkRectification.

/**
 * Center a point in the left and right images.  Search for the point and see if after rectification
 * the point can be found on the same row in both images.
 */
@Test
public void checkRectification() {
    // point being viewed
    Point3D_F64 X = new Point3D_F64(-0.01, 0.1, 3);
    StereoParameters param = createStereoParam(width, height);
    // create input images by rendering the point in both
    GrayU8 left = new GrayU8(width, height);
    GrayU8 right = new GrayU8(width, height);
    // compute the view in pixels of the point in the left and right cameras
    Point2D_F64 lensLeft = new Point2D_F64();
    Point2D_F64 lensRight = new Point2D_F64();
    SfmTestHelper.renderPointPixel(param, X, lensLeft, lensRight);
    // render the pixel in the image
    left.set((int) lensLeft.x, (int) lensLeft.y, 200);
    right.set((int) lensRight.x, (int) lensRight.y, 200);
    // test the algorithm
    StereoProcessingBase<GrayU8> alg = new StereoProcessingBase<>(GrayU8.class);
    alg.setCalibration(param);
    alg.setImages(left, right);
    alg.initialize();
    // Test tolerances are set to one pixel due to discretization errors in the image
    // sanity check test
    assertFalse(Math.abs(lensLeft.y - lensRight.y) <= 1);
    // check properties of a rectified image and stereo pairs
    Point2D_F64 foundLeft = centroid(alg.getImageLeftRect());
    Point2D_F64 foundRight = centroid(alg.getImageRightRect());
    assertTrue(Math.abs(foundLeft.y - foundRight.y) <= 1);
    assertTrue(foundRight.x < foundLeft.x);
}

Example 15 with StereoParameters

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

the class CheckVisualOdometryStereoSim method createStereoParam.

public StereoParameters createStereoParam() {
    StereoParameters ret = new StereoParameters();
    ret.setRightToLeft(new Se3_F64());
    ret.getRightToLeft().getT().set(-0.2, 0.001, -0.012);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.001, -0.01, 0.0023, ret.getRightToLeft().getR());
    ret.left = new CameraPinholeRadial(200, 201, 0, width / 2, height / 2, width, height).fsetRadial(0, 0);
    ret.right = new CameraPinholeRadial(199, 200, 0, width / 2 + 2, height / 2 - 6, width, height).fsetRadial(0, 0);
    return ret;
}