Examples with Vector3D_F64 georegression.struct.point.Vector3D_F64 used on opensource projects

Example 6 with Vector3D_F64

use of georegression.struct.point.Vector3D_F64 in project BoofCV by lessthanoptimal.

the class TestDecomposeHomography method checkAgainstKnown.

@Test
public void checkAgainstKnown() {
    DMatrixRMaj H = MultiViewOps.createHomography(R, T, d, N);
    DecomposeHomography alg = new DecomposeHomography();
    // There's a scale ambiguity. Let's see if it handles it correctly
    CommonOps_DDRM.scale(2.4, H);
    alg.decompose(H);
    List<Se3_F64> foundSE = alg.getSolutionsSE();
    List<Vector3D_F64> foundN = alg.getSolutionsN();
    assertEquals(4, foundSE.size());
    assertEquals(4, foundN.size());
    TestDecomposeEssential.checkUnique(foundSE);
    checkHasOriginal(foundSE, foundN, R, T, d, N);
}

Example 7 with Vector3D_F64

use of georegression.struct.point.Vector3D_F64 in project BoofCV by lessthanoptimal.

the class TestMultiViewOps method constraint_Trifocal_plp.

@Test
public void constraint_Trifocal_plp() {
    Point3D_F64 X = new Point3D_F64(0.1, -0.05, 2);
    computeLines(X, line1, line2, line3);
    // When the tensor was constructed the first view was assumed to be [I|0], which
    // is why normalized image coordinates are used for the first view
    Point2D_F64 x1 = PerspectiveOps.renderPixel(new Se3_F64(), null, X);
    Point2D_F64 x3 = PerspectiveOps.renderPixel(worldToCam3, K, X);
    Vector3D_F64 found = MultiViewOps.constraint(tensor, x1, line2, x3, null);
    assertEquals(0, found.x, 1e-12);
    assertEquals(0, found.y, 1e-12);
    assertEquals(0, found.z, 1e-12);
}

Example 8 with Vector3D_F64

use of georegression.struct.point.Vector3D_F64 in project BoofCV by lessthanoptimal.

the class TestMultiViewOps method createEssential.

@Test
public void createEssential() {
    DMatrixRMaj R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, -0.04, 0.1, null);
    Vector3D_F64 T = new Vector3D_F64(2, 1, -3);
    T.normalize();
    DMatrixRMaj E = MultiViewOps.createEssential(R, T);
    // Test using the following theorem:  x2^T*E*x1 = 0
    Point3D_F64 X = new Point3D_F64(0.1, 0.1, 2);
    Point2D_F64 x0 = PerspectiveOps.renderPixel(new Se3_F64(), null, X);
    Point2D_F64 x1 = PerspectiveOps.renderPixel(new Se3_F64(R, T), null, X);
    double val = GeometryMath_F64.innerProd(x1, E, x0);
    assertEquals(0, val, 1e-8);
}

Example 9 with Vector3D_F64

use of georegression.struct.point.Vector3D_F64 in project BoofCV by lessthanoptimal.

the class TestMultiViewOps method extractEpipoles_stereo.

@Test
public void extractEpipoles_stereo() {
    DMatrixRMaj R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 1, 2, -0.5, null);
    Vector3D_F64 T = new Vector3D_F64(0.5, 0.7, -0.3);
    DMatrixRMaj E = MultiViewOps.createEssential(R, T);
    assertTrue(NormOps_DDRM.normF(E) != 0);
    Point3D_F64 e1 = new Point3D_F64();
    Point3D_F64 e2 = new Point3D_F64();
    MultiViewOps.extractEpipoles(E, e1, e2);
    Point3D_F64 temp = new Point3D_F64();
    GeometryMath_F64.mult(E, e1, temp);
    assertEquals(0, temp.norm(), 1e-8);
    GeometryMath_F64.multTran(E, e2, temp);
    assertEquals(0, temp.norm(), 1e-8);
}

Example 10 with Vector3D_F64

use of georegression.struct.point.Vector3D_F64 in project BoofCV by lessthanoptimal.

the class TestMultiViewOps method decomposeEssential.

@Test
public void decomposeEssential() {
    DMatrixRMaj R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 1, 2, -0.5, null);
    Vector3D_F64 T = new Vector3D_F64(0.5, 0.7, -0.3);
    DMatrixRMaj E = MultiViewOps.createEssential(R, T);
    List<Se3_F64> found = MultiViewOps.decomposeEssential(E);
    // the scale factor is lost
    T.normalize();
    int numMatched = 0;
    for (Se3_F64 m : found) {
        DMatrixRMaj A = new DMatrixRMaj(3, 3);
        CommonOps_DDRM.multTransA(R, m.getR(), A);
        if (!MatrixFeatures_DDRM.isIdentity(A, 1e-8)) {
            continue;
        }
        Vector3D_F64 foundT = m.getT();
        foundT.normalize();
        if (foundT.isIdentical(T, 1e-8))
            numMatched++;
    }
    assertEquals(1, numMatched);
}