Example Three View Stereo Uncalibrated - Revision history

Peter at 00:36, 18 January 2022

2022-01-18T00:36:01Z

← Older revision		Revision as of 00:36, 18 January 2022
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

	Videos:		Videos:
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	// String name = "triflowers_";		// String name = "triflowers_";

	BufferedImage buff01 = UtilImageIO.~~loadImage~~(UtilIO.pathExample("triple/" + name + "01.jpg"));		BufferedImage buff01 = UtilImageIO.loadImageNotNull(UtilIO.pathExample("triple/" + name + "01.jpg"));
	BufferedImage buff02 = UtilImageIO.~~loadImage~~(UtilIO.pathExample("triple/" + name + "02.jpg"));		BufferedImage buff02 = UtilImageIO.loadImageNotNull(UtilIO.pathExample("triple/" + name + "02.jpg"));
	BufferedImage buff03 = UtilImageIO.~~loadImage~~(UtilIO.pathExample("triple/" + name + "03.jpg"));		BufferedImage buff03 = UtilImageIO.loadImageNotNull(UtilIO.pathExample("triple/" + name + "03.jpg"));

	Planar<GrayU8> color01 = ConvertBufferedImage.convertFrom(buff01, true, ImageType.pl(3, GrayU8.class));		Planar<GrayU8> color01 = ConvertBufferedImage.convertFrom(buff01, true, ImageType.pl(3, GrayU8.class));

Peter at 20:17, 12 July 2021

2021-07-12T20:17:32Z

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Peter at 02:55, 22 December 2020

2020-12-22T02:55:56Z

Show changes

Peter at 05:36, 18 May 2020

2020-05-18T05:36:35Z

← Older revision		Revision as of 05:36, 18 May 2020
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

	Videos:		Videos:
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	new ConfigFastHessian(0, 4, 1000, 1, 9, 4, 2), null,null, GrayU8.class);		new ConfigFastHessian(0, 4, 1000, 1, 9, 4, 2), null,null, GrayU8.class);

	FastQueue<Point2D_F64> locations01 = new FastQueue<>(Point2D_F64~~.class,true~~);		FastQueue<Point2D_F64> locations01 = new FastQueue<>(Point2D_F64::new);
	FastQueue<Point2D_F64> locations02 = new FastQueue<>(Point2D_F64~~.class,true~~);		FastQueue<Point2D_F64> locations02 = new FastQueue<>(Point2D_F64::new);
	FastQueue<Point2D_F64> locations03 = new FastQueue<>(Point2D_F64~~.class,true~~);		FastQueue<Point2D_F64> locations03 = new FastQueue<>(Point2D_F64::new);

	FastQueue<BrightFeature> features01 = UtilFeature.createQueue(detDesc,100);		FastQueue<BrightFeature> features01 = UtilFeature.createQueue(detDesc,100);
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	ScoreAssociation<BrightFeature> scorer = FactoryAssociation.scoreEuclidean(BrightFeature.class,true);		ScoreAssociation<BrightFeature> scorer = FactoryAssociation.scoreEuclidean(BrightFeature.class,true);
	AssociateDescription<BrightFeature> associate = FactoryAssociation.greedy(~~scorer~~, 0.1, ~~true~~);		AssociateDescription<BrightFeature> associate = FactoryAssociation.greedy(new ConfigAssociateGreedy(true,0.1),scorer);

	AssociateThreeByPairs<BrightFeature> associateThree = new AssociateThreeByPairs<>(associate,BrightFeature.class);		AssociateThreeByPairs<BrightFeature> associateThree = new AssociateThreeByPairs<>(associate,BrightFeature.class);
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	ConfigRansac configRansac = new ConfigRansac();		ConfigRansac configRansac = new ConfigRansac();
	configRansac.~~maxIterations~~ = 500;		configRansac.iterations = 500;
	configRansac.inlierThreshold = 1;		configRansac.inlierThreshold = 1;

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	FastQueue<AssociatedTripleIndex> associatedIdx = associateThree.getMatches();		FastQueue<AssociatedTripleIndex> associatedIdx = associateThree.getMatches();
	FastQueue<AssociatedTriple> associated = new FastQueue<>(AssociatedTriple~~.class,true~~);		FastQueue<AssociatedTriple> associated = new FastQueue<>(AssociatedTriple::new);
	for (int i = 0; i < associatedIdx.size; i++) {		for (int i = 0; i < associatedIdx.size; i++) {
	AssociatedTripleIndex p = associatedIdx.get(i);		AssociatedTripleIndex p = associatedIdx.get(i);
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	// Construct bundle adjustment data structure		// Construct bundle adjustment data structure
	SceneStructureMetric structure = new SceneStructureMetric(false);		SceneStructureMetric structure = new SceneStructureMetric(false);
	SceneObservations observations = new SceneObservations(3);		structure.initialize(3,3,inliers.size());

			SceneObservations observations = new SceneObservations();
			observations.initialize(3);

	~~structure.initialize(3,3,inliers.size());~~
	for (int i = 0; i < listPinhole.size(); i++) {		for (int i = 0; i < listPinhole.size(); i++) {
	BundlePinholeSimplified bp = new BundlePinholeSimplified();		BundlePinholeSimplified bp = new BundlePinholeSimplified();

Peter at 01:15, 24 December 2019

2019-12-24T01:15:00Z

← Older revision		Revision as of 01:15, 24 December 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

	Videos:		Videos:
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	CameraPinholeBrown intrinsicRight ,		CameraPinholeBrown intrinsicRight ,
	Se3_F64 leftToRight ,		Se3_F64 leftToRight ,
	int minDisparity , int ~~maxDisparity~~) {		int minDisparity , int rangeDisparity) {

	// drawInliers(origLeft, origRight, intrinsic, inliers);		// drawInliers(origLeft, origRight, intrinsic, inliers);
	~~int width = distortedLeft.width;~~
	~~int height = distortedRight.height;~~

	// Rectify and remove lens distortion for stereo processing		// Rectify and remove lens distortion for stereo processing
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	// compute disparity		// compute disparity
	~~StereoDisparity<GrayS16, GrayF32> disparityAlg~~ =		ConfigDisparityBMBest5 config = new ConfigDisparityBMBest5();
	~~FactoryStereoDisparity~~.~~regionSubpixelWta(DisparityAlgorithms~~.~~RECT_FIVE,~~		config.errorType = DisparityError.CENSUS;
	minDisparity~~, maxDisparity, 6, 6, 30, 3, 0~~.~~05, GrayS16.class)~~;		config.disparityMin = minDisparity;
			config.disparityRange = rangeDisparity;
	~~// Apply the Laplacian across the image to add extra resistance to changes in lighting or camera gain~~		config.subpixel = true;
	~~GrayS16 derivLeft~~ = ~~new GrayS16(width,height)~~;		config.regionRadiusX = config.regionRadiusY = 6;
	~~GrayS16 derivRight~~ = ~~new GrayS16(width,height)~~;		config.validateRtoL = 1;
	~~GImageDerivativeOps~~.~~laplace(rectifiedLeft, derivLeft, BorderType~~.~~EXTENDED)~~;		config.texture = 0.2;
	~~GImageDerivativeOps~~.~~laplace~~(~~rectifiedRight~~,~~derivRight~~, ~~BorderType~~.~~EXTENDED~~);		StereoDisparity<GrayU8, GrayF32> disparityAlg =
			FactoryStereoDisparity.blockMatchBest5(config, GrayU8.class, GrayF32.class);

	// process and return the results		// process and return the results
	disparityAlg.process(~~derivLeft~~, ~~derivRight~~);		disparityAlg.process(rectifiedLeft, rectifiedRight);
	GrayF32 disparity = disparityAlg.getDisparity();		GrayF32 disparity = disparityAlg.getDisparity();
	RectifyImageOps.applyMask(disparity,rectMask,0);		RectifyImageOps.applyMask(disparity,rectMask,0);

	// show results		// show results
	BufferedImage visualized = VisualizeImageData.disparity(disparity, null, ~~minDisparity, maxDisparity~~, 0);		BufferedImage visualized = VisualizeImageData.disparity(disparity, null, rangeDisparity, 0);

	BufferedImage outLeft = ConvertBufferedImage.convertTo(rectColorLeft, ~~new BufferedImage(width,height, BufferedImage.TYPE_INT_RGB)~~,true);		BufferedImage outLeft = ConvertBufferedImage.convertTo(rectColorLeft, null,true);
	BufferedImage outRight = ConvertBufferedImage.convertTo(rectColorRight, ~~new BufferedImage(width,height, BufferedImage.TYPE_INT_RGB)~~,true);		BufferedImage outRight = ConvertBufferedImage.convertTo(rectColorRight, null,true);

	ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification",true);		ShowImages.showWindow(new RectifiedPairPanel(true, outLeft, outRight), "Rectification",true);
	ShowImages.showWindow(visualized, "Disparity",true);		ShowImages.showWindow(visualized, "Disparity",true);

	showPointCloud(disparity, outLeft, leftToRight, rectifiedK,rectifiedR, minDisparity, ~~maxDisparity~~);		showPointCloud(disparity, outLeft, leftToRight, rectifiedK,rectifiedR, minDisparity, rangeDisparity);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 18:37, 7 July 2019

2019-07-07T18:37:52Z

← Older revision		Revision as of 18:37, 7 July 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

	Videos:		Videos:
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	System.out.println("Final Views");		System.out.println("Final Views");
	for (int i = 0; i < 3; i++) {		for (int i = 0; i < 3; i++) {
	BundlePinholeSimplified cp = structure.getCameras()[i].getModel();		BundlePinholeSimplified cp = structure.getCameras().get(i).getModel();
	Vector3D_F64 T = structure.getViews()[i].worldToView.T;		Vector3D_F64 T = structure.getViews().data[i].worldToView.T;
	System.out.printf("[ %d ] f = %5.1f T=%s\n",i,cp.f,T.toString());		System.out.printf("[ %d ] f = %5.1f T=%s\n",i,cp.f,T.toString());
	}		}

	System.out.println("\n\nComputing Stereo Disparity");		System.out.println("\n\nComputing Stereo Disparity");
	BundlePinholeSimplified cp = structure.getCameras()[0].getModel();		BundlePinholeSimplified cp = structure.getCameras().get(0).getModel();
	CameraPinholeBrown intrinsic01 = new CameraPinholeBrown();		CameraPinholeBrown intrinsic01 = new CameraPinholeBrown();
	intrinsic01.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic01.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic01.fsetRadial(cp.k1,cp.k2);		intrinsic01.fsetRadial(cp.k1,cp.k2);

	cp = structure.getCameras()[1].getModel();		cp = structure.getCameras().get(1).getModel();
	CameraPinholeBrown intrinsic02 = new CameraPinholeBrown();		CameraPinholeBrown intrinsic02 = new CameraPinholeBrown();
	intrinsic02.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic02.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic02.fsetRadial(cp.k1,cp.k2);		intrinsic02.fsetRadial(cp.k1,cp.k2);

	Se3_F64 leftToRight = structure.views[1].worldToView;		Se3_F64 leftToRight = structure.views.data[1].worldToView;

	// TODO dynamic max disparity		// TODO dynamic max disparity
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	int totalBehind = 0;		int totalBehind = 0;
	Point3D_F64 X = new Point3D_F64();		Point3D_F64 X = new Point3D_F64();
	for (int i = 0; i < structure.points.~~length~~; i++) {		for (int i = 0; i < structure.points.size; i++) {
	structure.points[i].get(X);		structure.points.data[i].get(X);
	if( X.z < 0 )		if( X.z < 0 )
	totalBehind++;		totalBehind++;
	}		}
	structure.views[1].worldToView.T.print();		structure.views.data[1].worldToView.T.print();
	if( totalBehind > structure.points.~~length~~/2 ) {		if( totalBehind > structure.points.size/2 ) {
	System.out.println("Flipping because it's reversed. score = "+bundleAdjustment.getFitScore());		System.out.println("Flipping because it's reversed. score = "+bundleAdjustment.getFitScore());
	for (int i = 1; i < structure.views.~~length~~; i++) {		for (int i = 1; i < structure.views.size; i++) {
	Se3_F64 w2v = structure.views[i].worldToView;		Se3_F64 w2v = structure.views.data[i].worldToView;
	w2v.set(w2v.invert(null));		w2v.set(w2v.invert(null));
	}		}
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	System.out.println(" after = "+bundleAdjustment.getFitScore());		System.out.println(" after = "+bundleAdjustment.getFitScore());
	} else {		} else {
	System.out.println("Points not behind camera. "+totalBehind+" / "+structure.points.~~length~~);		System.out.println("Points not behind camera. "+totalBehind+" / "+structure.points.size);
	}		}
	}		}

Peter at 01:57, 28 May 2019

2019-05-28T01:57:32Z

← Older revision		Revision as of 01:57, 28 May 2019
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	Videos:		Videos:
			* [https://www.youtube.com/watch?v=O_yAdsT8d84 Theoretical Explanation]
	* [https://youtu.be/GDI2y8JwLNs?t=130 Three View Stereo]		* [https://youtu.be/GDI2y8JwLNs?t=130 Three View Stereo]

Peter at 15:06, 15 March 2019

2019-03-15T15:06:50Z

← Older revision		Revision as of 15:06, 15 March 2019
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	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

	Videos:		Videos:
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	// Create and configure the bundle adjustment solver		// Create and configure the bundle adjustment solver
	BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.~~bundleAdjustmentMetric~~(configSBA);		BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
	// prints out useful debugging information that lets you know how well it's converging		// prints out useful debugging information that lets you know how well it's converging
	// bundleAdjustment.setVerbose(System.out,0);		// bundleAdjustment.setVerbose(System.out,0);
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	System.out.println("\n\nComputing Stereo Disparity");		System.out.println("\n\nComputing Stereo Disparity");
	BundlePinholeSimplified cp = structure.getCameras()[0].getModel();		BundlePinholeSimplified cp = structure.getCameras()[0].getModel();
	~~CameraPinholeRadial~~ intrinsic01 = new ~~CameraPinholeRadial~~();		CameraPinholeBrown intrinsic01 = new CameraPinholeBrown();
	intrinsic01.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic01.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic01.fsetRadial(cp.k1,cp.k2);		intrinsic01.fsetRadial(cp.k1,cp.k2);

	cp = structure.getCameras()[1].getModel();		cp = structure.getCameras()[1].getModel();
	~~CameraPinholeRadial~~ intrinsic02 = new ~~CameraPinholeRadial~~();		CameraPinholeBrown intrinsic02 = new CameraPinholeBrown();
	intrinsic02.fsetK(cp.f,cp.f,0,cx,cy,width,height);		intrinsic02.fsetK(cp.f,cp.f,0,cx,cy,width,height);
	intrinsic02.fsetRadial(cp.k1,cp.k2);		intrinsic02.fsetRadial(cp.k1,cp.k2);
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	public static void computeStereoCloud( GrayU8 distortedLeft, GrayU8 distortedRight ,		public static void computeStereoCloud( GrayU8 distortedLeft, GrayU8 distortedRight ,
	Planar<GrayU8> colorLeft, Planar<GrayU8> colorRight,		Planar<GrayU8> colorLeft, Planar<GrayU8> colorRight,
	~~CameraPinholeRadial~~ intrinsicLeft ,		CameraPinholeBrown intrinsicLeft ,
	~~CameraPinholeRadial~~ intrinsicRight ,		CameraPinholeBrown intrinsicRight ,
	Se3_F64 leftToRight ,		Se3_F64 leftToRight ,
	int minDisparity , int maxDisparity) {		int minDisparity , int maxDisparity) {
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	GrayS16 derivLeft = new GrayS16(width,height);		GrayS16 derivLeft = new GrayS16(width,height);
	GrayS16 derivRight = new GrayS16(width,height);		GrayS16 derivRight = new GrayS16(width,height);
	~~LaplacianEdge~~.~~process~~(rectifiedLeft, derivLeft);		GImageDerivativeOps.laplace(rectifiedLeft, derivLeft, BorderType.EXTENDED);
	~~LaplacianEdge~~.~~process~~(rectifiedRight,derivRight);		GImageDerivativeOps.laplace(rectifiedRight,derivRight, BorderType.EXTENDED);

	// process and return the results		// process and return the results

Peter at 00:16, 30 December 2018

2018-12-30T00:16:10Z

← Older revision		Revision as of 00:16, 30 December 2018
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	Videos:		Videos:
	* [https://youtu.be/GDI2y8JwLNs?t=~~115~~ Three View Stereo]		* [https://youtu.be/GDI2y8JwLNs?t=130 Three View Stereo]

	Concepts:		Concepts:

Peter at 00:15, 30 December 2018

2018-12-30T00:15:08Z

← Older revision		Revision as of 00:15, 30 December 2018
Line 9:		Line 9:
	Example File:		Example File:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/main/java/boofcv/examples/stereo/ExampleTrifocalStereoUncalibrated.java ExampleTrifocalStereoUncalibrated.java]

			Videos:
			* [https://youtu.be/GDI2y8JwLNs?t=115 Three View Stereo]

	Concepts:		Concepts: