Examples with ClosestPoint3D_F64 georegression.metric.ClosestPoint3D_F64 used on opensource projects

Example 1 with ClosestPoint3D_F64

use of georegression.metric.ClosestPoint3D_F64 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);
}