Examples with DogArray org.ddogleg.struct.DogArray used on opensource projects

Example 26 with DogArray

use of org.ddogleg.struct.DogArray in project BoofCV by lessthanoptimal.

the class TestDisparityToColorPointCloud method doesItCrash.

/**
 * Simple test to see if it crashes. Very little validation of results is done
 */
@Test
void doesItCrash() {
    double baseline = 1.0;
    DMatrixRMaj K = PerspectiveOps.pinholeToMatrix(500.0, 500, 0, 250, 250);
    DMatrixRMaj rectifiedR = CommonOps_DDRM.identity(3);
    Point2Transform2_F64 rectifiedToColor = new DoNothing2Transform2_F64();
    int disparityMin = 2;
    int disparityRange = 100;
    var alg = new DisparityToColorPointCloud();
    alg.configure(baseline, K, rectifiedR, rectifiedToColor, disparityMin, disparityRange);
    var disparity = new GrayF32(width, height);
    var color = new DisparityToColorPointCloud.ColorImage() {

        @Override
        public boolean isInBounds(int x, int y) {
            return true;
        }

        @Override
        public int getRGB(int x, int y) {
            return 0xFF00FF;
        }
    };
    var output = new DogArray<>(Point3dRgbI_F64::new);
    alg.process(disparity, color, PointCloudWriter.wrapF64RGB(output));
    assertEquals(width * height, output.size);
    for (int i = 0; i < output.size; i++) {
        assertEquals(0xFF00FF, output.get(i).rgb);
    }
}

Example 27 with DogArray

use of org.ddogleg.struct.DogArray in project BoofCV by lessthanoptimal.

the class TestPnPLepetitEPnP method selectControlPoints.

@Test
void selectControlPoints() {
    List<Point3D_F64> worldPts = GeoTestingOps.randomPoints_F64(-1, 10, -5, 20, 0.1, 0.5, 30, rand);
    DogArray<Point3D_F64> controlPts = new DogArray<>(4, Point3D_F64::new);
    PnPLepetitEPnP alg = new PnPLepetitEPnP();
    alg.selectWorldControlPoints(worldPts, controlPts);
    // check that each row is unique
    for (int i = 0; i < 4; i++) {
        Point3D_F64 ci = controlPts.get(i);
        for (int j = i + 1; j < 4; j++) {
            Point3D_F64 cj = controlPts.get(j);
            double dx = ci.x - cj.x;
            double dy = ci.y - cj.y;
            double dz = ci.z - cj.z;
            double sum = Math.abs(dx) + Math.abs(dy) + Math.abs(dz);
            assertTrue(sum > 0.00001);
        }
    }
}

Example 28 with DogArray

use of org.ddogleg.struct.DogArray in project BoofCV by lessthanoptimal.

the class TestPnPLepetitEPnP method selectWorldControlPoints_planar.

@Test
void selectWorldControlPoints_planar() {
    List<Point3D_F64> worldPts = CommonHomographyChecks.createRandomPlane(rand, 3, 30);
    DogArray<Point3D_F64> controlPts = new DogArray<>(4, Point3D_F64::new);
    PnPLepetitEPnP alg = new PnPLepetitEPnP();
    alg.selectWorldControlPoints(worldPts, controlPts);
    assertEquals(3, alg.numControl);
    // check that each row is unique
    for (int i = 0; i < 3; i++) {
        Point3D_F64 ci = controlPts.get(i);
        for (int j = i + 1; j < 3; j++) {
            Point3D_F64 cj = controlPts.get(j);
            double dx = ci.x - cj.x;
            double dy = ci.y - cj.y;
            double dz = ci.z - cj.z;
            double sum = Math.abs(dx) + Math.abs(dy) + Math.abs(dz);
            assertTrue(sum > 0.00001);
        }
    }
}

Example 29 with DogArray

use of org.ddogleg.struct.DogArray in project BoofCV by lessthanoptimal.

the class TestPlyCodec method encode_decode_3DRGB_binary.

@Test
void encode_decode_3DRGB_binary() throws IOException {
    List<Point3dRgbI_F64> expected = new ArrayList<>();
    for (int i = 0; i < 10; i++) {
        int r = (10 * i) & 0xFF;
        int g = (28 * i) & 0xFF;
        int b = (58 * i) & 0xFF;
        int rgb = r << 16 | g << 16 | b;
        expected.add(new Point3dRgbI_F64(i * 123.45, i - 1.01, i + 2.34, rgb));
    }
    for (boolean asFloat : new boolean[] { true, false }) {
        DogArray<Point3dRgbI_F64> found = new DogArray<>(Point3dRgbI_F64::new);
        ByteArrayOutputStream output = new ByteArrayOutputStream();
        PlyCodec.saveBinary(PointCloudReader.wrapF64RGB(expected), ByteOrder.BIG_ENDIAN, false, asFloat, output);
        ByteArrayInputStream input = new ByteArrayInputStream(output.toByteArray());
        PlyCodec.read(input, PointCloudWriter.wrapF64RGB(found));
        assertEquals(expected.size(), found.size);
        double tol = asFloat ? UtilEjml.TEST_F32 : UtilEjml.TEST_F64;
        for (int i = 0; i < found.size; i++) {
            assertEquals(0.0, found.get(i).distance(expected.get(i)), tol);
        }
    }
}

Example 30 with DogArray

use of org.ddogleg.struct.DogArray in project BoofCV by lessthanoptimal.

the class SerializeFieldsYamlBase method deserializeFastAccess.

private void deserializeFastAccess(Object parent, Map<String, Object> state, String key, Field f) throws IllegalAccessException, InstantiationException, InvocationTargetException, NoSuchMethodException {
    // See if the list is empty and there's nothing to do
    List listOfStates = (List) state.get(key);
    if (listOfStates.isEmpty())
        return;
    // See if we are dealing with a regular array or DogArray
    if (FastArray.class.isAssignableFrom(f.get(parent).getClass())) {
        FastArray<Object> plist = (FastArray<Object>) f.get(parent);
        Class<?> itemType = plist.type;
        boolean basic = itemType.isEnum() || itemType.isPrimitive() || itemType.getName().equals("java.lang.String");
        // deserialize each element and add it to the list
        plist.reset();
        for (int i = 0; i < listOfStates.size(); i++) {
            Object value = listOfStates.get(i);
            if (basic) {
                // since numeric values are stored as objects this should work too. Not tested.
                if (itemType.isEnum())
                    plist.add(Enum.valueOf((Class) itemType, (String) value));
                else
                    plist.add(value);
            } else {
                Object dst = itemType.getConstructor().newInstance();
                deserialize(dst, (Map) value);
                plist.add(dst);
            }
        }
    } else {
        DogArray<Object> plist = (DogArray<Object>) f.get(parent);
        // predeclare all the required elements
        plist.resetResize(listOfStates.size());
        // deserialize each element and add it to the list
        for (int i = 0; i < listOfStates.size(); i++) {
            Object value = listOfStates.get(i);
            Object dst = plist.get(i);
            deserialize(dst, (Map) value);
        }
    }
}