Examples with AssociatedPair boofcv.struct.geo.AssociatedPair used on opensource projects

Example 16 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class CommonHomographyChecks method createScene.

public void createScene(int numPoints, boolean isPixels) {
    // define the camera's motion
    motion = new Se3_F64();
    motion.getR().set(ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, -0.03, 0.02, null));
    motion.getT().set(0.1, -0.1, 0.01);
    // randomly generate points in space
    pts = createRandomPlane(rand, d, numPoints);
    // transform points into second camera's reference frame
    pairs = new ArrayList<>();
    for (Point3D_F64 p1 : pts) {
        Point3D_F64 p2 = SePointOps_F64.transform(motion, p1, null);
        AssociatedPair pair = new AssociatedPair();
        pair.p1.set(p1.x / p1.z, p1.y / p1.z);
        pair.p2.set(p2.x / p2.z, p2.y / p2.z);
        pairs.add(pair);
        if (isPixels) {
            GeometryMath_F64.mult(K, pair.p1, pair.p1);
            GeometryMath_F64.mult(K, pair.p2, pair.p2);
        }
    }
}

Example 17 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestHomographyDirectLinearTransform method checkHomography.

/**
 * Create a set of points perfectly on a plane and provide perfect observations of them
 *
 * @param N Number of observed points.
 * @param isPixels Pixel or calibrated coordinates
 * @param alg Algorithm being evaluated
 */
private void checkHomography(int N, boolean isPixels, HomographyDirectLinearTransform alg) {
    createScene(N, isPixels);
    // compute essential
    assertTrue(alg.process(pairs, solution));
    // validate by testing essential properties
    // sanity check, F is not zero
    assertTrue(NormOps_DDRM.normF(solution) > 0.001);
    // see if it follows the epipolar constraint
    for (AssociatedPair p : pairs) {
        Point2D_F64 a = GeometryMath_F64.mult(solution, p.p1, new Point2D_F64());
        double diff = a.distance(p.p2);
        assertEquals(0, diff, 1e-8);
    }
}

Example 18 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestHomographyTotalLeastSquares method checkAgainstKnownH.

@Test
public void checkAgainstKnownH() {
    DMatrixRMaj H = new DMatrixRMaj(new double[][] { { 1.5, 0, 0.5 }, { 0.2, 2, 0.2 }, { 0.05, 0, 1.5 } });
    // DMatrixRMaj H = new DMatrixRMaj(new double[][]{{1,0,0},{0,1,0},{0,0,1}});
    // DMatrixRMaj H = new DMatrixRMaj(new double[][]{{1,0,0},{0,1,0},{0,0,2.0}});
    int N = 10000;
    List<AssociatedPair> list = new ArrayList<>();
    for (int i = 0; i < N; i++) {
        AssociatedPair p = new AssociatedPair();
        p.p1.x = rand.nextGaussian();
        p.p1.y = rand.nextGaussian();
        GeometryMath_F64.mult(H, p.p1, p.p2);
        list.add(p);
    }
    CommonOps_DDRM.scale(1.0 / H.get(2, 2), H);
    // H.print();
    DMatrixRMaj found = new DMatrixRMaj(3, 3);
    HomographyTotalLeastSquares alg = new HomographyTotalLeastSquares();
    alg.process(list, found);
    // System.out.println("\n\nFound");
    // found.print();
    assertTrue(MatrixFeatures_DDRM.isIdentical(found, H, UtilEjml.TEST_F64));
}

Example 19 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestDistanceAffine2D method createRandomData.

@Override
public AssociatedPair createRandomData() {
    Point2D_F64 p1 = new Point2D_F64(rand.nextGaussian(), rand.nextGaussian());
    Point2D_F64 p2 = new Point2D_F64(rand.nextGaussian(), rand.nextGaussian());
    return new AssociatedPair(p1, p2, false);
}

Example 20 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestDistanceHomographyPixelSq method createRandomData.

@Override
public AssociatedPair createRandomData() {
    Point2D_F64 p1 = new Point2D_F64(rand.nextGaussian(), rand.nextGaussian());
    Point2D_F64 p2 = new Point2D_F64(rand.nextGaussian(), rand.nextGaussian());
    return new AssociatedPair(p1, p2, false);
}