boofcv.abst.geo.selfcalib.ProjectiveToMetricCameraEssentialGuessAndCheck Maven / Gradle / Ivy

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BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.7
/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.abst.geo.selfcalib;

import boofcv.alg.geo.MetricCameras;
import boofcv.alg.geo.MultiViewOps;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.alg.geo.selfcalib.SelfCalibrationEssentialGuessAndCheck;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.calib.ElevateViewInfo;
import boofcv.struct.geo.AssociatedPair;
import boofcv.struct.geo.AssociatedTuple;
import lombok.Getter;
import org.ddogleg.struct.DogArray;
import org.ejml.data.DMatrixRMaj;

import java.util.List;

/**
 * Wrapper around {@link SelfCalibrationEssentialGuessAndCheck} for {@link ProjectiveToMetricCameras}.
 *
 * @author Peter Abeles
 */
public class ProjectiveToMetricCameraEssentialGuessAndCheck implements ProjectiveToMetricCameras {

	final @Getter SelfCalibrationEssentialGuessAndCheck selfCalib;

	//--------------- Internal Work Space
	DMatrixRMaj K = new DMatrixRMaj(3, 3);
	DogArray pairs = new DogArray<>(AssociatedPair::new);
	DMatrixRMaj F21 = new DMatrixRMaj(3, 3);

	public ProjectiveToMetricCameraEssentialGuessAndCheck( SelfCalibrationEssentialGuessAndCheck selfCalib ) {
		this.selfCalib = selfCalib;
	}

	@Override
	public boolean process( List dimensions, List cameraMatrices,
							List observations, MetricCameras metricViews ) {
		BoofMiscOps.checkTrue(cameraMatrices.size() + 1 == dimensions.size());
		metricViews.reset();

		// initialize
		selfCalib.imageLengthPixels = dimensions.get(0).shape.getMaxLength();

		// Convert the projective cameras into a fundamental matrix
		DMatrixRMaj P2 = cameraMatrices.get(0);
		MultiViewOps.projectiveToFundamental(P2, F21);

		// Convert observations into AssociatedPairs
		MultiViewOps.convertTu(observations, 0, 1, pairs);

		// Projective to Metric calibration
		if (!selfCalib.process(F21, P2, pairs.toList()))
			return false;
//		if (alg.isLimit)
//			return false;
		final DMatrixRMaj H = selfCalib.rectifyingHomography;

		// solved for the focal lengths in the first two views
		metricViews.intrinsics.grow().fsetK(selfCalib.focalLengthA, selfCalib.focalLengthA, 0, 0, 0, -1, -1);
		metricViews.intrinsics.grow().fsetK(selfCalib.focalLengthB, selfCalib.focalLengthB, 0, 0, 0, -1, -1);
		// extract camera motion for view 2 using found
		PerspectiveOps.pinholeToMatrix(metricViews.intrinsics.get(1), K);
		if (!MultiViewOps.projectiveToMetricKnownK(P2, H, K, metricViews.motion_1_to_k.grow()))
			return false;
		// For the remaining views use H to find motion and intrinsics
		for (int viewIdx = 1; viewIdx < cameraMatrices.size(); viewIdx++) {
			if (!MultiViewOps.projectiveToMetric(cameraMatrices.get(viewIdx), H, metricViews.motion_1_to_k.grow(), K))
				return false;
			PerspectiveOps.matrixToPinhole(K, -1, -1, metricViews.intrinsics.grow());
		}

		return true;
	}

	@Override
	public int getMinimumViews() {
		return 2;
	}
}