public void init(int N, boolean isFundamental) {
// define the camera's motion
worldToCamera = new Se3_F64();
worldToCamera
.getR()
.set(ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, -0.03, 0.02, null));
worldToCamera.getT().set(0.1, -0.1, 0.01);
// randomly generate points in space
worldPts = GeoTestingOps.randomPoints_F64(-1, 1, -1, 1, 2, 3, N, rand);
// transform points into second camera's reference frame
pairs = new ArrayList<AssociatedPair>();
currentObs = new ArrayList<Point2D_F64>();
for (Point3D_F64 p1 : worldPts) {
Point3D_F64 p2 = SePointOps_F64.transform(worldToCamera, p1, null);
AssociatedPair pair = new AssociatedPair();
pair.p1.set(p1.x / p1.z, p1.y / p1.z);
pair.p2.set(p2.x / p2.z, p2.y / p2.z);
pairs.add(pair);
if (isFundamental) {
GeometryMath_F64.mult(K, pair.p1, pair.p1);
GeometryMath_F64.mult(K, pair.p2, pair.p2);
}
currentObs.add(pair.p2);
}
}
/** The two sets of points match perfectly and with a little bit of noise */
@Test
public void test3D() {
for (double noise = 0; noise <= 0.01; noise += 0.01) {
// can only correct small changes
DenseMatrix64F R = RotationMatrixGenerator.eulerXYZ(0.01, -0.002, 0.03, null);
Vector3D_F64 T = new Vector3D_F64(0.02, 0.03, 0.01);
Se3_F64 tran = new Se3_F64(R, T);
List<Point3D_F64> srcPts = UtilPoint3D_F64.random(-10, 10, 30, rand);
List<Point3D_F64> srcOrig = UtilPoint3D_F64.copy(srcPts);
List<Point3D_F64> modelPts = new ArrayList<Point3D_F64>();
for (Point3D_F64 p : srcPts) {
modelPts.add(SePointOps_F64.transform(tran, p, null));
}
// add noise
UtilPoint3D_F64.noiseNormal(modelPts, noise, rand);
PointModel<Point3D_F64> model = new PointModel<Point3D_F64>(modelPts);
StoppingCondition stop = new StoppingCondition(10, 0.1 * noise / srcPts.size() + 1e-8);
IterativeClosestPoint<Se3_F64, Point3D_F64> alg =
new IterativeClosestPoint<Se3_F64, Point3D_F64>(stop, new MotionSe3PointSVD_F64());
alg.setModel(model);
alg.process(srcPts);
Se3_F64 foundTran = alg.getPointsToModel();
checkTransform(srcOrig, modelPts, foundTran, noise * 10 + 1e-8);
}
}
/**
* Renders a 3D point in the left and right camera views given the stereo parameters. Lens
* distortion is taken in account.
*
* @param param Stereo parameters
* @param X Point location in 3D space
* @param left location in pixels in left camera
* @param right location in pixels in right camera
*/
public static void renderPointPixel(
StereoParameters param, Point3D_F64 X, Point2D_F64 left, Point2D_F64 right) {
// compute the location of X in the right camera's reference frame
Point3D_F64 rightX = new Point3D_F64();
SePointOps_F64.transform(param.getRightToLeft().invert(null), X, rightX);
// location of object in normalized image coordinates
Point2D_F64 normLeft = new Point2D_F64(X.x / X.z, X.y / X.z);
Point2D_F64 normRight = new Point2D_F64(rightX.x / rightX.z, rightX.y / rightX.z);
// convert into pixel coordinates
Point2D_F64 pixelLeft =
PerspectiveOps.convertNormToPixel(param.left, normLeft.x, normLeft.y, null);
Point2D_F64 pixelRight =
PerspectiveOps.convertNormToPixel(param.right, normRight.x, normRight.y, null);
// take in account lens distortion
Point2Transform2_F32 distLeft =
LensDistortionOps.transformPoint(param.left).distort_F32(true, true);
Point2Transform2_F32 distRight =
LensDistortionOps.transformPoint(param.right).distort_F32(true, true);
Point2D_F32 lensLeft = new Point2D_F32();
Point2D_F32 lensRight = new Point2D_F32();
distLeft.compute((float) pixelLeft.x, (float) pixelLeft.y, lensLeft);
distRight.compute((float) pixelRight.x, (float) pixelRight.y, lensRight);
// output solution
left.set(lensLeft.x, lensLeft.y);
right.set(lensRight.x, lensRight.y);
}
@Override
public boolean process(GrayF32 input) {
Se3_F64 t2c = targetToCamera.get(count++);
set = new CalibrationObservation();
for (int i = 0; i < layout.size(); i++) {
Point2D_F64 p2 = layout.get(i);
// location of calibration point on the target
Point3D_F64 p3 = new Point3D_F64(p2.x, p2.y, 0);
Point3D_F64 a = SePointOps_F64.transform(t2c, p3, null);
Point2D_F64 pixel = new Point2D_F64();
normToPixel.compute(a.x / a.z, a.y / a.z, pixel);
if (pixel.x < 0
|| pixel.x >= intrinsic.width - 1
|| pixel.y < 0
|| pixel.y >= input.height - 1)
throw new RuntimeException("Adjust test setup, bad observation");
set.add(pixel, i);
}
return true;
}
public static void checkTransform(
List<Point2D_F64> pts, List<Point2D_F64> model, Se2_F64 modelToPts, double tol) {
Point2D_F64 foundPt = new Point2D_F64();
for (int i = 0; i < pts.size(); i++) {
Point2D_F64 p = pts.get(i);
SePointOps_F64.transform(modelToPts, p, foundPt);
GeometryUnitTest.assertEquals(model.get(i), foundPt, tol);
}
}
private void checkPlaneToWorld(PlaneNormal3D_F64 planeN) {
planeN.getN().normalize();
PlaneGeneral3D_F64 planeG = UtilPlane3D_F64.convert(planeN, null);
List<Point2D_F64> points2D = UtilPoint2D_F64.random(-2, 2, 100, rand);
Se3_F64 planeToWorld = UtilPlane3D_F64.planeToWorld(planeG, null);
Point3D_F64 p3 = new Point3D_F64();
Point3D_F64 l3 = new Point3D_F64();
Point3D_F64 k3 = new Point3D_F64();
for (Point2D_F64 p : points2D) {
p3.set(p.x, p.y, 0);
SePointOps_F64.transform(planeToWorld, p3, l3);
// see if it created a valid transform
SePointOps_F64.transformReverse(planeToWorld, l3, k3);
assertEquals(0, k3.distance(p3), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(0, UtilPlane3D_F64.evaluate(planeG, l3), GrlConstants.DOUBLE_TEST_TOL);
}
}
public void process(CalibratedPoseAndPoint model, double[] output) {
int outputIndex = 0;
for (int view = 0; view < model.getNumViews(); view++) {
Se3_F64 worldToCamera = model.getWorldToCamera(view);
FastQueue<PointIndexObservation> observedPts = observations.get(view).getPoints();
for (int i = 0; i < observedPts.size; i++) {
PointIndexObservation o = observedPts.data[i];
Point3D_F64 worldPt = model.getPoint(o.pointIndex);
SePointOps_F64.transform(worldToCamera, worldPt, cameraPt);
output[outputIndex++] = cameraPt.x / cameraPt.z - o.obs.x;
output[outputIndex++] = cameraPt.y / cameraPt.z - o.obs.y;
}
}
}