Examples with DoNothing2Transform2_F32 boofcv.struct.distort.DoNothing2Transform2_F32 used on opensource projects

Example 1 with DoNothing2Transform2_F32

use of boofcv.struct.distort.DoNothing2Transform2_F32 in project BoofCV by lessthanoptimal.

the class VisualizeDepthVisualOdometryApp method handleInputChange.

@Override
protected void handleInputChange(int source, InputMethod method, int width, int height) {
    if (source != 0)
        return;
    fps = -1;
    numFaults = 0;
    frameNumber = 0;
    alg.reset();
    alg.setCalibration(config.visualParam, new DoNothing2Transform2_F32());
    statusPanel.reset();
    handleRunningStatus(Status.RUNNING);
    guiCam3D.init();
    guiCam3D.setFocalLength(300);
    guiCam3D.setStepSize(0.05);
    guiCam3D.setPreferredSize(new Dimension(config.visualParam.width, config.visualParam.height));
    viewPanel.setPreferredSize(new Dimension(width * 2 + 20, height));
    viewPanel.setDividerLocation(width);
    viewPanel.setMaximumSize(viewPanel.getPreferredSize());
}

Example 2 with DoNothing2Transform2_F32

use of boofcv.struct.distort.DoNothing2Transform2_F32 in project BoofCV by lessthanoptimal.

the class ExampleVisualOdometryDepth method main.

public static void main(String[] args) throws IOException {
    MediaManager media = DefaultMediaManager.INSTANCE;
    String directory = UtilIO.pathExample("kinect/straight");
    // load camera description and the video sequence
    VisualDepthParameters param = CalibrationIO.load(media.openFile(directory + "visualdepth.yaml"));
    // specify how the image features are going to be tracked
    PkltConfig configKlt = new PkltConfig();
    configKlt.pyramidScaling = new int[] { 1, 2, 4, 8 };
    configKlt.templateRadius = 3;
    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(600, 3, 1), GrayU8.class, GrayS16.class);
    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);
    // declares the algorithm
    DepthVisualOdometry<GrayU8, GrayU16> visualOdometry = FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true, sparseDepth, tracker, GrayU8.class, GrayU16.class);
    // Pass in intrinsic/extrinsic calibration.  This can be changed in the future.
    visualOdometry.setCalibration(param.visualParam, new DoNothing2Transform2_F32());
    // Process the video sequence and output the location plus number of inliers
    SimpleImageSequence<GrayU8> videoVisual = media.openVideo(directory + "rgb.mjpeg", ImageType.single(GrayU8.class));
    SimpleImageSequence<GrayU16> videoDepth = media.openVideo(directory + "depth.mpng", ImageType.single(GrayU16.class));
    while (videoVisual.hasNext()) {
        GrayU8 visual = videoVisual.next();
        GrayU16 depth = videoDepth.next();
        if (!visualOdometry.process(visual, depth)) {
            throw new RuntimeException("VO Failed!");
        }
        Se3_F64 leftToWorld = visualOdometry.getCameraToWorld();
        Vector3D_F64 T = leftToWorld.getT();
        System.out.printf("Location %8.2f %8.2f %8.2f      inliers %s\n", T.x, T.y, T.z, inlierPercent(visualOdometry));
    }
}

Example 3 with DoNothing2Transform2_F32

use of boofcv.struct.distort.DoNothing2Transform2_F32 in project BoofCV by lessthanoptimal.

the class CheckVisualOdometryDepthSim method moveForward.

@Test
public void moveForward() {
    algorithm.reset();
    algorithm.setCalibration(param, new DoNothing2Transform2_F32());
    Se3_F64 worldToLeft = new Se3_F64();
    for (int i = 0; i < 10; i++) {
        // System.out.println("------------------------- Sim tick = "+i);
        worldToLeft.getT().z = i * 0.05;
        // render the images
        setIntrinsic(param);
        left.setTo(render(worldToLeft));
        renderDepth(worldToLeft, depth, depthUnits);
        // ShowImages.showWindow(left,"Rendered Left", true);
        // BoofMiscOps.sleep(5000);
        // process the images
        assertTrue(algorithm.process(left, depth));
        // Compare to truth.  Only go for a crude approximation
        Se3_F64 foundWorldToLeft = algorithm.getCameraToWorld().invert(null);
        // worldToLeft.getT().print();
        // foundWorldToLeft.getT().print();
        assertTrue(MatrixFeatures_DDRM.isIdentical(foundWorldToLeft.getR(), worldToLeft.getR(), 0.1));
        assertTrue(foundWorldToLeft.getT().distance(worldToLeft.getT()) < tolerance);
    }
}