Examples with AssociatedTripleIndex boofcv.struct.feature.AssociatedTripleIndex used on opensource projects

Example 6 with AssociatedTripleIndex

use of boofcv.struct.feature.AssociatedTripleIndex in project BoofCV by lessthanoptimal.

the class TestAssociateThreeByPairs method failOnCtoA.

/**
 * A->B is good. B->C is good. C->A exceeds error margin
 */
@Test
void failOnCtoA() {
    DogArray<TupleDesc_F64> featuresA = UtilFeature.createArrayF64(1);
    DogArray<TupleDesc_F64> featuresB = UtilFeature.createArrayF64(1);
    DogArray<TupleDesc_F64> featuresC = UtilFeature.createArrayF64(1);
    DogArray_I32 featuresSetA = new DogArray_I32();
    DogArray_I32 featuresSetB = new DogArray_I32();
    DogArray_I32 featuresSetC = new DogArray_I32();
    featuresB.grow().setTo(234234234);
    featuresC.grow().setTo(2344234);
    featuresC.grow().setTo(99234234);
    for (int i = 0; i < 10; i++) {
        featuresA.grow().setTo(i);
        featuresB.grow().setTo(i + 0.1);
        featuresC.grow().setTo(i + 0.2);
    }
    // there is only one set
    featuresSetA.resize(featuresA.size);
    featuresSetA.fill(0);
    featuresSetB.resize(featuresB.size);
    featuresSetB.fill(0);
    featuresSetC.resize(featuresC.size);
    featuresSetC.fill(0);
    double maxError = 0.1 * 0.1 + 0.00000001;
    ScoreAssociation<TupleDesc_F64> score = FactoryAssociation.defaultScore(TupleDesc_F64.class);
    AssociateDescription<TupleDesc_F64> associate = FactoryAssociation.greedy(new ConfigAssociateGreedy(true, maxError), score);
    AssociateThreeByPairs<TupleDesc_F64> alg = new AssociateThreeByPairs<>(associate);
    alg.initialize(1);
    alg.setFeaturesA(featuresA, featuresSetA);
    alg.setFeaturesB(featuresB, featuresSetB);
    alg.setFeaturesC(featuresC, featuresSetC);
    alg.associate();
    DogArray<AssociatedTripleIndex> matches = alg.getMatches();
    assertEquals(0, matches.size);
}

Example 7 with AssociatedTripleIndex

use of boofcv.struct.feature.AssociatedTripleIndex in project BoofCV by lessthanoptimal.

the class TestAssociateThreeByPairs method perfect.

@Test
void perfect() {
    DogArray<TupleDesc_F64> featuresA = UtilFeature.createArrayF64(1);
    DogArray<TupleDesc_F64> featuresB = UtilFeature.createArrayF64(1);
    DogArray<TupleDesc_F64> featuresC = UtilFeature.createArrayF64(1);
    DogArray_I32 featuresSetA = new DogArray_I32();
    DogArray_I32 featuresSetB = new DogArray_I32();
    DogArray_I32 featuresSetC = new DogArray_I32();
    featuresB.grow().setTo(234234234);
    featuresC.grow().setTo(2344234);
    featuresC.grow().setTo(99234234);
    for (int i = 0; i < 10; i++) {
        featuresA.grow().setTo(i);
        featuresB.grow().setTo(i);
        featuresC.grow().setTo(i);
    }
    // there is only one set
    featuresSetA.resize(featuresA.size);
    featuresSetA.fill(0);
    featuresSetB.resize(featuresB.size);
    featuresSetB.fill(0);
    featuresSetC.resize(featuresC.size);
    featuresSetC.fill(0);
    ScoreAssociation<TupleDesc_F64> score = FactoryAssociation.defaultScore(TupleDesc_F64.class);
    AssociateDescription<TupleDesc_F64> associate = FactoryAssociation.greedy(new ConfigAssociateGreedy(true, 1e-8), score);
    AssociateThreeByPairs<TupleDesc_F64> alg = new AssociateThreeByPairs<>(associate);
    alg.initialize(1);
    alg.setFeaturesA(featuresA, featuresSetA);
    alg.setFeaturesB(featuresB, featuresSetB);
    alg.setFeaturesC(featuresC, featuresSetC);
    alg.associate();
    DogArray<AssociatedTripleIndex> matches = alg.getMatches();
    assertEquals(10, matches.size);
    for (int i = 0; i < 10; i++) {
        AssociatedTripleIndex a = matches.get(i);
        assertEquals(i, a.a);
        assertEquals(i + 1, a.b);
        assertEquals(i + 2, a.c);
    }
}

Example 8 with AssociatedTripleIndex

use of boofcv.struct.feature.AssociatedTripleIndex in project BoofCV by lessthanoptimal.

the class AssociateThreeByPairs method associate.

@Override
public void associate() {
    sanityCheck();
    matches.reset();
    // Associate view A to view B
    UtilFeature.setSource(featuresA, setsA, associator);
    UtilFeature.setDestination(featuresB, setsB, associator);
    associator.associate();
    FastAccess<AssociatedIndex> pairs = associator.getMatches();
    tmpA.resize(pairs.size);
    tmpSetsA.resize(pairs.size);
    tmpB.resize(pairs.size);
    tmpSetsB.resize(pairs.size);
    for (int i = 0; i < pairs.size; i++) {
        AssociatedIndex p = pairs.get(i);
        matches.grow().setTo(p.src, p.dst, -1);
        // indexes of tmp lists will be the same as matches
        tmpA.data[i] = featuresA.data[p.src];
        tmpB.data[i] = featuresB.data[p.dst];
        tmpSetsA.data[i] = setsA.data[p.src];
        tmpSetsB.data[i] = setsB.data[p.dst];
    }
    // Associate view B to view C, but only consider previously associated features in B
    UtilFeature.setSource(tmpB, tmpSetsB, associator);
    UtilFeature.setDestination(featuresC, setsC, associator);
    associator.associate();
    pairs = associator.getMatches();
    tmpB.resize(pairs.size);
    tmpSetsB.resize(pairs.size);
    srcToC.resize(pairs.size);
    // do this to make the code easier to read
    FastArray<TD> tmpC = tmpB;
    DogArray_I32 tmpSetsC = tmpSetsB;
    for (int i = 0; i < pairs.size; i++) {
        AssociatedIndex p = pairs.get(i);
        // tmpSrc points to indexes in matches
        matches.get(p.src).c = p.dst;
        tmpC.data[i] = featuresC.data[p.dst];
        tmpSetsC.data[i] = setsC.data[p.dst];
        // save mapping back to original input index
        srcToC.data[i] = p.dst;
    }
    // mark the unmatched as unmatched
    DogArray_I32 unsrc = associator.getUnassociatedSource();
    for (int i = 0; i < unsrc.size; i++) {
        int idx = unsrc.get(i);
        matches.get(idx).c = -1;
    }
    // Associate view C to view A but only consider features which are currently in the triple
    UtilFeature.setSource(tmpC, tmpSetsC, associator);
    UtilFeature.setDestination(tmpA, tmpSetsA, associator);
    associator.associate();
    pairs = associator.getMatches();
    for (int i = 0; i < pairs.size; i++) {
        AssociatedIndex p = pairs.get(i);
        AssociatedTripleIndex t = matches.get(p.dst);
        // index of tmpA (destination) matches the index of matches
        if (matches.get(p.dst).c != srcToC.data[p.src]) {
            // mark it so that it will be pruned
            t.c = -1;
        }
    }
    DogArray_I32 undst = associator.getUnassociatedDestination();
    for (int i = 0; i < undst.size; i++) {
        int idx = undst.get(i);
        matches.get(idx).c = -1;
    }
    // Prune triplets which don't match
    pruneMatches();
}