示例#1
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  /**
   * 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);
  }
/** @author Peter Abeles */
public class TestCalibrateMonoPlanar {

  CameraPinholeRadial intrinsic =
      new CameraPinholeRadial(200, 210, 0, 320, 240, 640, 480)
          .fsetRadial(0.01, -0.02)
          .fsetTangental(0.03, 0.03);
  Point2Transform2_F64 normToPixel =
      LensDistortionOps.transformPoint(intrinsic).distort_F64(false, true);

  GrayF32 blank = new GrayF32(intrinsic.width, intrinsic.height);

  List<Se3_F64> targetToCamera = new ArrayList<>();

  public TestCalibrateMonoPlanar() {
    double z = 250;
    double w = 40;

    targetToCamera.add(
        new Se3_F64(
            ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, 0, 0, null),
            new Vector3D_F64(0, 0, z)));
    targetToCamera.add(
        new Se3_F64(
            ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.1, 0, 0, null),
            new Vector3D_F64(w, 0, z)));
    targetToCamera.add(
        new Se3_F64(
            ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, 0.1, 0, null),
            new Vector3D_F64(w, w, z)));
    targetToCamera.add(
        new Se3_F64(
            ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, 0, 0.1, null),
            new Vector3D_F64(0, -w, z)));
    targetToCamera.add(
        new Se3_F64(
            ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0.05, 0, 0.1, null),
            new Vector3D_F64(0, -w, z)));
  }

  /**
   * Give it a fake feature detector and a fairly benign scenario and see if it can correctly
   * estimate the camera parameters.
   */
  @Test
  public void fullBasic() {

    FakeDetector detector = new FakeDetector();
    CalibrateMonoPlanar alg = new CalibrateMonoPlanar(detector);
    alg.configure(true, 2, true);

    for (int i = 0; i < targetToCamera.size(); i++) {
      alg.addImage(blank);
    }

    CameraPinholeRadial found = alg.process();

    assertEquals(intrinsic.fx, found.fx, 1e-3);
    assertEquals(intrinsic.fy, found.fy, 1e-3);
    assertEquals(intrinsic.cx, found.cx, 1e-3);
    assertEquals(intrinsic.cy, found.cy, 1e-3);
    assertEquals(intrinsic.skew, found.skew, 1e-3);

    assertEquals(intrinsic.radial[0], found.radial[0], 1e-5);
    assertEquals(intrinsic.radial[1], found.radial[1], 1e-5);

    assertEquals(intrinsic.t1, found.t1, 1e-5);
    assertEquals(intrinsic.t2, found.t2, 1e-5);
  }

  private class FakeDetector implements DetectorFiducialCalibration {

    int count = 0;

    CalibrationObservation set;

    List<Point2D_F64> layout = CalibrationDetectorSquareGrid.createLayout(4, 3, 30, 30);

    @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;
    }

    @Override
    public CalibrationObservation getDetectedPoints() {
      return set;
    }

    @Override
    public List<Point2D_F64> getLayout() {
      return layout;
    }
  }
}