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

Example 1 with FastArray

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

the class TestAssociateNearestNeighbor_ST method various.

/**
 * Several tests combined into one
 */
@Test
void various() {
    Dummy<TupleDesc_F64> nn = new Dummy<>();
    // src = assoc[i] where src is the index of the source feature and i is the index of the dst feature
    nn.assoc = new int[] { 2, 0, 1, -1, 4, -1, -1, 2, 2, 1 };
    AssociateNearestNeighbor_ST<TupleDesc_F64> alg = new AssociateNearestNeighbor_ST<>(nn, TupleDesc_F64.class);
    FastArray<TupleDesc_F64> src = new FastArray<>(TupleDesc_F64.class);
    FastArray<TupleDesc_F64> dst = new FastArray<>(TupleDesc_F64.class);
    for (int i = 0; i < 5; i++) {
        src.add(new TupleDesc_F64(10));
    }
    for (int i = 0; i < 10; i++) {
        dst.add(new TupleDesc_F64(10));
    }
    alg.setSource(src);
    alg.setDestination(dst);
    alg.associate();
    DogArray<AssociatedIndex> matches = alg.getMatches();
    assertEquals(7, matches.size);
    for (int i = 0, count = 0; i < nn.assoc.length; i++) {
        if (nn.assoc[i] != -1) {
            int source = nn.assoc[i];
            assertEquals(source, matches.get(count).src);
            assertEquals(i, matches.get(count).dst);
            count++;
        }
    }
    DogArray_I32 unassoc = alg.getUnassociatedSource();
    assertEquals(1, unassoc.size);
    assertEquals(3, unassoc.get(0));
    unassoc = alg.getUnassociatedDestination();
    assertEquals(3, unassoc.size);
    assertEquals(3, unassoc.get(0));
    assertEquals(5, unassoc.get(1));
    assertEquals(6, unassoc.get(2));
}

Example 2 with FastArray

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

the class TestFeatureSelectUniformBest method checkAcknowledgePrior.

void checkAcknowledgePrior(boolean positive) {
    int width = 30;
    int height = 20;
    // One detected feature in each cell
    QueueCorner prior = new QueueCorner();
    QueueCorner detected = new QueueCorner();
    int cellSize = 10;
    for (int y = 0; y < height; y += cellSize) {
        for (int x = 0; x < width; x += cellSize) {
            detected.grow().setTo(x + 2, y + 2);
        }
    }
    // add two prior features to the top row
    for (int x = 0; x < width; x += cellSize) {
        prior.grow().setTo(x + 2, 2);
        prior.grow().setTo(x + 2, 2);
    }
    var found = new FastArray<>(Point2D_I16.class);
    FeatureSelectUniformBest<Point2D_I16> alg = createAlgorithm();
    // make it easy to know the cell size
    alg.configUniform = new HackedConfig(cellSize);
    // Since there is a prior feature in every cell and 6 features were requested nothing should be returned
    // since the prior features already constributed to the spread
    alg.select(intensity, -1, -1, positive, prior, detected, 3, found);
    assertEquals(3, found.size);
    // the found features should all be in the bottom row since it gives preference to cells without priors
    for (int x = 0, idx = 0; x < width; x += cellSize, idx++) {
        assertEquals(x + 2, found.get(idx).x);
        assertEquals(12, found.get(idx).y);
    }
    // We now request two and 6 of the detected features should be returned
    alg.select(intensity, -1, -1, positive, prior, detected, 6, found);
    assertEquals(6, found.size);
}

Example 3 with FastArray

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

the class TestFeatureSelectUniform method everyCellHasPrior.

/**
 * Every cell has a prior in it. make sure it doesn't get messed up.
 */
@Test
void everyCellHasPrior() {
    int width = 30;
    int height = 20;
    // One detected feature in each cell and two priors
    QueueCorner prior = new QueueCorner();
    QueueCorner detected = new QueueCorner();
    int cellSize = 10;
    for (int y = 0; y < height; y += cellSize) {
        for (int x = 0; x < width; x += cellSize) {
            detected.grow().setTo(x + 2, y + 2);
            prior.grow().setTo(x + 2, y + 2);
            prior.grow().setTo(x + 1, y + 1);
        }
    }
    var found = new FastArray<>(Point2D_I16.class);
    FeatureSelectUniform<Point2D_I16> alg = createAlgorithm();
    // make it easy to know the cell size
    alg.configUniform = new HackedConfig(cellSize);
    // a bug earlier aborted because the total count didn't change when every cell had a prior in it
    alg.select(width, height, prior, detected, 6, found);
    assertEquals(6, found.size);
}

Example 4 with FastArray

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

the class TestProjectiveToMetricCameraDualQuadratic method averageCommonCameras.

/**
 * Have some cameras be duplicated and others not. See if it averages correctly
 */
@Test
void averageCommonCameras() {
    List<ElevateViewInfo> views = new ArrayList<>();
    views.add(new ElevateViewInfo(300, 400, 1));
    views.add(new ElevateViewInfo(300, 400, 0));
    views.add(new ElevateViewInfo(300, 400, 0));
    views.add(new ElevateViewInfo(300, 400, 2));
    var solutions = new FastArray<>(Intrinsic.class);
    for (int i = 0; i < 4; i++) {
        Intrinsic cam = new Intrinsic();
        cam.fx = 100 + i;
        cam.fy = 200 + i;
        cam.skew = 400 + i;
        solutions.add(cam);
    }
    var selfcalib = new SelfCalibrationLinearDualQuadratic(1.0);
    var alg = new ProjectiveToMetricCameraDualQuadratic(selfcalib);
    // process
    alg.averageCommonCameras(views, solutions, 3);
    // check results
    assertEquals(3, alg.cameraCounts.size);
    assertEquals(3, alg.workCameras.size);
    // see if it counted the cameras correctly
    assertEquals(2, alg.cameraCounts.get(0));
    assertEquals(1, alg.cameraCounts.get(1));
    assertEquals(1, alg.cameraCounts.get(2));
    // See if the values are as epected
    CameraPinhole cam0 = alg.workCameras.get(0);
    CameraPinhole cam1 = alg.workCameras.get(1);
    CameraPinhole cam2 = alg.workCameras.get(2);
    assertEquals(101.5, cam0.fx, UtilEjml.TEST_F64);
    assertEquals(201.5, cam0.fy, UtilEjml.TEST_F64);
    assertEquals(401.5, cam0.skew, UtilEjml.TEST_F64);
    assertEquals(100, cam1.fx, UtilEjml.TEST_F64);
    assertEquals(200, cam1.fy, UtilEjml.TEST_F64);
    assertEquals(400, cam1.skew, UtilEjml.TEST_F64);
    assertEquals(103, cam2.fx, UtilEjml.TEST_F64);
    assertEquals(203, cam2.fy, UtilEjml.TEST_F64);
    assertEquals(403, cam2.skew, UtilEjml.TEST_F64);
}

Example 5 with FastArray

use of org.ddogleg.struct.FastArray 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);
        }
    }
}