Examples with TupleDesc_F64 boofcv.struct.feature.TupleDesc_F64 used on opensource projects

Example 66 with TupleDesc_F64

use of boofcv.struct.feature.TupleDesc_F64 in project BoofCV by lessthanoptimal.

the class TestAssociateStereo2D method constraintY.

/**
 * Makes sure observations have the same y-axis
 */
@Test
public void constraintY() {
    // zap the rotation so that no adjustment should need to be done
    Point3D_F64 X = new Point3D_F64(0.02, -0.5, 3);
    SfmTestHelper.renderPointPixel(param, X, leftP, rightP);
    // mangle the y-axis
    leftP.y += 0.25;
    pointsLeft.grow().set(leftP);
    pointsRight.grow().set(rightP);
    descLeft.grow();
    descRight.grow();
    AssociateStereo2D<TupleDesc_F64> alg = new AssociateStereo2D<>(scorer, 0.5, TupleDesc_F64.class);
    alg.setCalibration(param);
    alg.setSource(pointsLeft, descLeft);
    alg.setDestination(pointsRight, descRight);
    alg.associate();
    // at the current tolerance they should still match
    assertEquals(1, alg.getMatches().size);
    // make the tolerance tighter
    alg = new AssociateStereo2D<>(scorer, 0.01, TupleDesc_F64.class);
    alg.setCalibration(param);
    alg.setSource(pointsLeft, descLeft);
    alg.setDestination(pointsRight, descRight);
    alg.associate();
    assertEquals(0, alg.getMatches().size);
}