Examples with Quadrilateral_F64 georegression.struct.shapes.Quadrilateral_F64 used on opensource projects

Example 6 with Quadrilateral_F64

use of georegression.struct.shapes.Quadrilateral_F64 in project BoofCV by lessthanoptimal.

the class RenderSquareBinaryGridFiducial method getOrderedExpectedPoints.

public List<Point2D_F64> getOrderedExpectedPoints(int numRows, int numCols) {
    List<Point2D_F64> points = new ArrayList<>();
    for (int row = 0; row < numRows; row++) {
        for (int col = 0; col < numCols; col++) {
            Quadrilateral_F64 q = expectedCorners.get(row * numCols + col);
            points.add(q.a);
            points.add(q.b);
        }
        for (int col = 0; col < numCols; col++) {
            Quadrilateral_F64 q = expectedCorners.get(row * numCols + col);
            points.add(q.d);
            points.add(q.c);
        }
    }
    return points;
}

Example 7 with Quadrilateral_F64

use of georegression.struct.shapes.Quadrilateral_F64 in project BoofCV by lessthanoptimal.

the class TestQuadPoseEstimator method basicTest.

@Test
void basicTest() {
    LensDistortionNarrowFOV distortion = createDistortion();
    Se3_F64 expectedW2C = new Se3_F64();
    expectedW2C.T.setTo(0.1, -0.05, 4);
    ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.03, 0, 0, expectedW2C.R);
    Quadrilateral_F64 quadPlane = new Quadrilateral_F64(-0.5, 0.5, 0.5, 0.5, 0.5, -0.5, -0.5, -0.5);
    Quadrilateral_F64 quadViewed = new Quadrilateral_F64();
    project(expectedW2C, quadPlane.a, quadViewed.a);
    project(expectedW2C, quadPlane.b, quadViewed.b);
    project(expectedW2C, quadPlane.c, quadViewed.c);
    project(expectedW2C, quadPlane.d, quadViewed.d);
    QuadPoseEstimator alg = new QuadPoseEstimator(1e-8, 200);
    alg.setFiducial(-0.5, 0.5, 0.5, 0.5, 0.5, -0.5, -0.5, -0.5);
    alg.setLensDistoriton(distortion);
    assertTrue(alg.process(quadViewed, false));
    Se3_F64 found = alg.getWorldToCamera();
    assertTrue(found.T.distance(expectedW2C.T) < 1e-6);
    assertTrue(MatrixFeatures_DDRM.isIdentical(found.R, expectedW2C.R, 1e-6));
    // project the found fiducials back onto the marker and see if it returns the expected result
    Point2D_F64 foundMarker = new Point2D_F64();
    Point2D_F64 pixel = new Point2D_F64();
    alg.normToPixel.compute(quadViewed.a.x, quadViewed.a.y, pixel);
    alg.pixelToMarker(pixel.x, pixel.y, foundMarker);
    assertTrue(foundMarker.distance(-0.5, 0.5) < 1e-6);
    alg.normToPixel.compute(quadViewed.b.x, quadViewed.b.y, pixel);
    alg.pixelToMarker(pixel.x, pixel.y, foundMarker);
    assertTrue(foundMarker.distance(0.5, 0.5) < 1e-6);
    alg.normToPixel.compute(quadViewed.c.x, quadViewed.c.y, pixel);
    alg.pixelToMarker(pixel.x, pixel.y, foundMarker);
    assertTrue(foundMarker.distance(0.5, -0.5) < 1e-6);
    alg.normToPixel.compute(quadViewed.d.x, quadViewed.d.y, pixel);
    alg.pixelToMarker(pixel.x, pixel.y, foundMarker);
    assertTrue(foundMarker.distance(-0.5, -0.5) < 1e-6);
}

Example 8 with Quadrilateral_F64

use of georegression.struct.shapes.Quadrilateral_F64 in project BoofCV by lessthanoptimal.

the class ColorTrackerObjectRectangleChecks method render.

@Override
protected void render(double scale, double tranX, double tranY) {
    // each region in the target region will have a different color. Allowing scale, translation, and rotation
    // to be estimated using color information alone
    Quadrilateral_F64 q = initRegion.copy();
    // scale it down a bit so that there is a border
    if (multiColor)
        scale(q, 0.95);
    Point2D_F64 ab = average(q.a, q.b);
    Point2D_F64 bc = average(q.b, q.c);
    Point2D_F64 cd = average(q.c, q.d);
    Point2D_F64 da = average(q.d, q.a);
    Point2D_F64 abcd = average(ab, cd);
    Quadrilateral_F64 r0 = new Quadrilateral_F64(q.a, ab, abcd, da, true);
    Quadrilateral_F64 r1 = new Quadrilateral_F64(ab, q.b, bc, abcd, true);
    Quadrilateral_F64 r2 = new Quadrilateral_F64(abcd, bc, q.c, cd, true);
    Quadrilateral_F64 r3 = new Quadrilateral_F64(da, abcd, cd, q.d, true);
    Polygon2D_I32[] region = new Polygon2D_I32[4];
    region[0] = setPolygon(r0);
    region[1] = setPolygon(r1);
    region[2] = setPolygon(r2);
    region[3] = setPolygon(r3);
    int[] band0 = new int[] { 100, 50, 176, 0 };
    int[] band1 = new int[] { 150, 200, 240, 40 };
    int[] band2 = new int[] { 20, 234, 176, 210 };
    GImageMiscOps.fill(original, 0);
    GImageMiscOps.fill(input, 0);
    for (int i = 0; i < 4; i++) {
        int colorIndex;
        if (multiColor)
            colorIndex = i;
        else
            colorIndex = 0;
        TextureGrayTrackerObjectRectangleChecks.convexFill(region[i], original.getBand(0), band0[colorIndex]);
        TextureGrayTrackerObjectRectangleChecks.convexFill(region[i], original.getBand(1), band1[colorIndex]);
        TextureGrayTrackerObjectRectangleChecks.convexFill(region[i], original.getBand(2), band2[colorIndex]);
    }
    new FDistort(original, input).affine(scale, 0, 0, scale, tranX, tranY).apply();
}

Example 9 with Quadrilateral_F64

use of georegression.struct.shapes.Quadrilateral_F64 in project BoofCV by lessthanoptimal.

the class ColorTrackerObjectRectangleTests method render.

@Override
protected void render(double scale, double tranX, double tranY) {
    // each region in the target region will have a different color.  Allowing scale, translation, and rotation
    // to be estimated using color information alone
    Quadrilateral_F64 q = initRegion.copy();
    // scale it down a bit so that there is a border
    if (multiColor)
        scale(q, 0.95);
    Point2D_F64 ab = average(q.a, q.b);
    Point2D_F64 bc = average(q.b, q.c);
    Point2D_F64 cd = average(q.c, q.d);
    Point2D_F64 da = average(q.d, q.a);
    Point2D_F64 abcd = average(ab, cd);
    Quadrilateral_F64 r0 = new Quadrilateral_F64(q.a, ab, abcd, da, true);
    Quadrilateral_F64 r1 = new Quadrilateral_F64(ab, q.b, bc, abcd, true);
    Quadrilateral_F64 r2 = new Quadrilateral_F64(abcd, bc, q.c, cd, true);
    Quadrilateral_F64 r3 = new Quadrilateral_F64(da, abcd, cd, q.d, true);
    Polygon2D_I32[] region = new Polygon2D_I32[4];
    region[0] = setPolygon(r0);
    region[1] = setPolygon(r1);
    region[2] = setPolygon(r2);
    region[3] = setPolygon(r3);
    int[] band0 = new int[] { 100, 50, 176, 0 };
    int[] band1 = new int[] { 150, 200, 240, 40 };
    int[] band2 = new int[] { 20, 234, 176, 210 };
    GImageMiscOps.fill(original, 0);
    GImageMiscOps.fill(input, 0);
    for (int i = 0; i < 4; i++) {
        int colorIndex;
        if (multiColor)
            colorIndex = i;
        else
            colorIndex = 0;
        TextureGrayTrackerObjectRectangleTests.convexFill(region[i], original.getBand(0), band0[colorIndex]);
        TextureGrayTrackerObjectRectangleTests.convexFill(region[i], original.getBand(1), band1[colorIndex]);
        TextureGrayTrackerObjectRectangleTests.convexFill(region[i], original.getBand(2), band2[colorIndex]);
    }
    new FDistort(original, input).affine(scale, 0, 0, scale, tranX, tranY).apply();
}

Example 10 with Quadrilateral_F64

use of georegression.struct.shapes.Quadrilateral_F64 in project BoofCV by lessthanoptimal.

the class GenericTrackerObjectRectangleTests method reinitialize.

/**
 * See if it correctly reinitializes.  Should produce identical results when given the same inputs after
 * being reinitialized.
 */
@Test
public void reinitialize() {
    Quadrilateral_F64 where1 = new Quadrilateral_F64();
    TrackerObjectQuad<T> tracker = create(imageType);
    render(1, 0, 0);
    assertTrue(tracker.initialize(input, initRegion));
    render(1, 3, -3);
    assertTrue(tracker.process(input, where));
    render(1, 6, -6);
    assertTrue(tracker.process(input, where));
    render(1, 0, 0);
    assertTrue(tracker.initialize(input, initRegion));
    render(1, 3, -3);
    assertTrue(tracker.process(input, where1));
    render(1, 6, -6);
    assertTrue(tracker.process(input, where1));
    // Might not be a perfect match due to robust algorithm not being reset to their initial state
    checkSolution(where1.a.x, where1.a.y, where1.c.x, where1.c.y, 0.02);
}