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

Example 21 with AssociatedPair

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

the class TestDistanceSe3SymmetricSq method testIntrinsicParameters.

/**
 * Manually compute the error using a calibration matrix and see if they match
 */
@Test
public void testIntrinsicParameters() {
    // intrinsic camera calibration matrix
    DMatrixRMaj K = new DMatrixRMaj(3, 3, true, 100, 0.01, 200, 0, 150, 200, 0, 0, 1);
    DMatrixRMaj K2 = new DMatrixRMaj(3, 3, true, 105, 0.021, 180, 0, 155, 210, 0, 0, 1);
    DMatrixRMaj K_inv = new DMatrixRMaj(3, 3);
    DMatrixRMaj K2_inv = new DMatrixRMaj(3, 3);
    CommonOps_DDRM.invert(K, K_inv);
    CommonOps_DDRM.invert(K2, K2_inv);
    Se3_F64 keyToCurr = new Se3_F64();
    keyToCurr.getT().set(0.1, -0.1, 0.01);
    Point3D_F64 X = new Point3D_F64(0.02, -0.05, 3);
    AssociatedPair obs = new AssociatedPair();
    AssociatedPair obsP = new AssociatedPair();
    obs.p1.x = X.x / X.z;
    obs.p1.y = X.y / X.z;
    SePointOps_F64.transform(keyToCurr, X, X);
    obs.p2.x = X.x / X.z;
    obs.p2.y = X.y / X.z;
    // translate into pixels
    GeometryMath_F64.mult(K, obs.p1, obsP.p1);
    GeometryMath_F64.mult(K2, obs.p2, obsP.p2);
    // add some noise
    obsP.p1.x += 0.25;
    obsP.p1.y += 0.25;
    obsP.p2.x -= 0.25;
    obsP.p2.y -= 0.25;
    // convert noisy into normalized coordinates
    GeometryMath_F64.mult(K_inv, obsP.p1, obsP.p1);
    GeometryMath_F64.mult(K2_inv, obsP.p2, obsP.p2);
    // triangulate the point's position given noisy data
    LineParametric3D_F64 rayA = new LineParametric3D_F64();
    LineParametric3D_F64 rayB = new LineParametric3D_F64();
    rayA.slope.set(obsP.p1.x, obsP.p1.y, 1);
    rayB.p.set(-0.1, 0.1, -0.01);
    rayB.slope.set(obsP.p2.x, obsP.p2.y, 1);
    ClosestPoint3D_F64.closestPoint(rayA, rayB, X);
    // compute predicted given noisy triangulation
    AssociatedPair ugh = new AssociatedPair();
    ugh.p1.x = X.x / X.z;
    ugh.p1.y = X.y / X.z;
    SePointOps_F64.transform(keyToCurr, X, X);
    ugh.p2.x = X.x / X.z;
    ugh.p2.y = X.y / X.z;
    // convert everything into pixels
    GeometryMath_F64.mult(K, ugh.p1, ugh.p1);
    GeometryMath_F64.mult(K2, ugh.p2, ugh.p2);
    GeometryMath_F64.mult(K, obsP.p1, obsP.p1);
    GeometryMath_F64.mult(K2, obsP.p2, obsP.p2);
    double dx1 = ugh.p1.x - obsP.p1.x;
    double dy1 = ugh.p1.y - obsP.p1.y;
    double dx2 = ugh.p2.x - obsP.p2.x;
    double dy2 = ugh.p2.y - obsP.p2.y;
    double error = dx1 * dx1 + dy1 * dy1 + dx2 * dx2 + dy2 * dy2;
    // convert noisy back into normalized coordinates
    GeometryMath_F64.mult(K_inv, obsP.p1, obsP.p1);
    GeometryMath_F64.mult(K2_inv, obsP.p2, obsP.p2);
    DistanceSe3SymmetricSq alg = new DistanceSe3SymmetricSq(triangulate);
    alg.setIntrinsic(K.get(0, 0), K.get(1, 1), K.get(0, 1), K2.get(0, 0), K2.get(1, 1), K2.get(0, 1));
    alg.setModel(keyToCurr);
    assertEquals(error, alg.computeDistance(obsP), 1e-8);
}

Example 22 with AssociatedPair

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

the class TestDistanceSe3SymmetricSq method testBehindCamera.

@Test
public void testBehindCamera() {
    Se3_F64 keyToCurr = new Se3_F64();
    keyToCurr.getR().set(ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, -0.03, 0.02, null));
    keyToCurr.getT().set(0.1, -0.1, 0.01);
    Point3D_F64 X = new Point3D_F64(0.1, -0.05, -3);
    AssociatedPair obs = new AssociatedPair();
    obs.p1.x = X.x / X.z;
    obs.p1.y = X.y / X.z;
    SePointOps_F64.transform(keyToCurr, X, X);
    obs.p2.x = X.x / X.z;
    obs.p2.y = X.y / X.z;
    alg.setModel(keyToCurr);
    assertTrue(Double.MAX_VALUE == alg.computeDistance(obs));
}

Example 23 with AssociatedPair

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

the class TestPositionFromPairLinear2 method compute.

@Override
public Se3_F64 compute(List<AssociatedPair> obs, List<Point3D_F64> locations) {
    List<Point2D_F64> l = new ArrayList<>();
    for (AssociatedPair p : obs) l.add(p.p2);
    assertTrue(alg.process(motion.getR(), locations, l));
    Se3_F64 found = new Se3_F64();
    found.R.set(motion.R);
    found.T.set(alg.getT());
    return found;
}

Example 24 with AssociatedPair

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

the class TestRectifyFundamental method createScene.

public void createScene() {
    DMatrixRMaj K = new DMatrixRMaj(3, 3, true, 500, 0, 250, 0, 520, 270, 0, 0, 1);
    // define the camera's motion
    motion = new Se3_F64();
    motion.getR().set(ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, -0.01, 0.1, 0.05, null));
    motion.getT().set(-0.5, 0.1, -0.05);
    DMatrixRMaj E = MultiViewOps.createEssential(motion.getR(), motion.getT());
    F = MultiViewOps.createFundamental(E, K);
    // randomly generate points in space
    List<Point3D_F64> worldPts = GeoTestingOps.randomPoints_F64(-1, 1, -1, 1, 2, 3, N, rand);
    // transform points into second camera's reference frame
    pairs = new ArrayList<>();
    for (Point3D_F64 p1 : worldPts) {
        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);
        GeometryMath_F64.mult(K, pair.p1, pair.p1);
        GeometryMath_F64.mult(K, pair.p2, pair.p2);
    }
}

Example 25 with AssociatedPair

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

the class TestRectifyFundamental method alignY.

/**
 * See if the transform align an observation to the same y-axis
 */
@Test
public void alignY() {
    createScene();
    RectifyFundamental alg = new RectifyFundamental();
    alg.process(F, pairs, 500, 520);
    // unrectified observations
    AssociatedPair unrect = pairs.get(0);
    // rectified observations
    Point2D_F64 r1 = new Point2D_F64();
    Point2D_F64 r2 = new Point2D_F64();
    GeometryMath_F64.mult(alg.getRect1(), unrect.p1, r1);
    GeometryMath_F64.mult(alg.getRect2(), unrect.p2, r2);
    assertEquals(r1.y, r2.y, 1e-8);
}