code stringlengths 73 34.1k | label stringclasses 1
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protected static double change( EllipseRotated_F64 a , EllipseRotated_F64 b ) {
double total = 0;
total += Math.abs(a.center.x - b.center.x);
total += Math.abs(a.center.y - b.center.y);
total += Math.abs(a.a - b.a);
total += Math.abs(a.b - b.b);
// only care about the change of angle when it is not a circ... | java |
public static <T extends ImageGray<T>>
MonocularPlaneVisualOdometry<T> monoPlaneInfinity(int thresholdAdd,
int thresholdRetire,
double inlierPixelTol,
int ransacIterations,
PointTracker<T> tracker,
ImageType<T> imageType) {
//squared pixel... | java |
public static <T extends ImageGray<T>>
MonocularPlaneVisualOdometry<T> monoPlaneOverhead(double cellSize,
double maxCellsPerPixel,
double mapHeightFraction ,
double inlierGroundTol,
int ransacIterations ,
int thresholdRetire ,
... | java |
public static <T extends ImageGray<T>>
StereoVisualOdometry<T> stereoDepth(double inlierPixelTol,
int thresholdAdd,
int thresholdRetire ,
int ransacIterations ,
int refineIterations ,
boolean doublePass ,
StereoDisparitySparse<T> sparseDisparity,
Po... | java |
public static <Vis extends ImageGray<Vis>, Depth extends ImageGray<Depth>>
DepthVisualOdometry<Vis,Depth> depthDepthPnP(double inlierPixelTol,
int thresholdAdd,
int thresholdRetire ,
int ransacIterations ,
int refineIterations ,
boolean doublePass ,
... | java |
public static <T extends ImageGray<T>, Desc extends TupleDesc>
StereoVisualOdometry<T> stereoDualTrackerPnP(int thresholdAdd, int thresholdRetire,
double inlierPixelTol,
double epipolarPixelTol,
int ransacIterations,
int refineIterations,
PointTracker<T>... | java |
public static void computeCameraControl(double beta[],
List<Point3D_F64> nullPts[],
FastQueue<Point3D_F64> cameraPts ,
int numControl )
{
cameraPts.reset();
for( int i = 0; i < numControl; i++ ) {
cameraPts.grow().set(0,0,0);
}
for( int i = 0; i < numControl; i++ ) {
dou... | java |
public static void constraintMatrix6x3( DMatrixRMaj L_6x10 , DMatrixRMaj L_6x3 ) {
int index = 0;
for( int i = 0; i < 6; i++ ) {
L_6x3.data[index++] = L_6x10.get(i,0);
L_6x3.data[index++] = L_6x10.get(i,1);
L_6x3.data[index++] = L_6x10.get(i,4);
}
} | java |
public static void constraintMatrix6x6( DMatrixRMaj L_6x10 , DMatrixRMaj L_6x6 ) {
int index = 0;
for( int i = 0; i < 6; i++ ) {
L_6x6.data[index++] = L_6x10.get(i,0);
L_6x6.data[index++] = L_6x10.get(i,1);
L_6x6.data[index++] = L_6x10.get(i,2);
L_6x6.data[index++] = L_6x10.get(i,4);
L_6x6.data[inde... | java |
public static void constraintMatrix3x3( DMatrixRMaj L_3x6 ,
DMatrixRMaj L_6x3 ) {
int index = 0;
for( int i = 0; i < 3; i++ ) {
L_6x3.data[index++] = L_3x6.get(i,0);
L_6x3.data[index++] = L_3x6.get(i,1);
L_6x3.data[index++] = L_3x6.get(i,3);
}
} | java |
public static void constraintMatrix3x6( DMatrixRMaj L , DMatrixRMaj y ,
FastQueue<Point3D_F64> controlWorldPts ,
List<Point3D_F64> nullPts[] ) {
int row = 0;
for( int i = 0; i < 3; i++ ) {
Point3D_F64 ci = controlWorldPts.get(i);
Point3D_F64 vai = nullPts[0].get(i);
Point3D_F64 vbi = ... | java |
public static void jacobian_Control4( DMatrixRMaj L_full ,
double beta[] , DMatrixRMaj A )
{
int indexA = 0;
double b0 = beta[0]; double b1 = beta[1]; double b2 = beta[2]; double b3 = beta[3];
final double ld[] = L_full.data;
for( int i = 0; i < 6; i++ ) {
int li = L_full.numCols*i;
A.data... | java |
public static void jacobian_Control3( DMatrixRMaj L_full ,
double beta[] , DMatrixRMaj A)
{
int indexA = 0;
double b0 = beta[0]; double b1 = beta[1]; double b2 = beta[2];
final double ld[] = L_full.data;
for( int i = 0; i < 3; i++ ) {
int li = L_full.numCols*i;
A.data[indexA++] = 2*ld[li+... | java |
public void process( ImagePyramid<T> pyramidPrev , ImagePyramid<T> pyramidCurr ) {
InputSanityCheck.checkSameShape(pyramidPrev, pyramidCurr);
int numLayers = pyramidPrev.getNumLayers();
for( int i = numLayers-1; i >= 0; i-- ) {
T prev = pyramidPrev.getLayer(i);
T curr = pyramidCurr.getLayer(i);
flow... | java |
public void setDirection(double yaw, double pitch, double roll ) {
ConvertRotation3D_F64.eulerToMatrix(EulerType.YZX,pitch,yaw,roll,R);
} | java |
protected void declareVectors( int width , int height ) {
this.outWidth = width;
if( vectors.length < width*height ) {
Point3D_F64[] tmp = new Point3D_F64[width*height];
System.arraycopy(vectors,0,tmp,0,vectors.length);
for (int i = vectors.length; i < tmp.length; i++) {
tmp[i] = new Point3D_F64();
... | java |
public void polyScale(GrowQueue_I8 input , int scale , GrowQueue_I8 output) {
output.resize(input.size);
for (int i = 0; i < input.size; i++) {
output.data[i] = (byte)multiply(input.data[i]&0xFF, scale);
}
} | java |
public void polyAdd(GrowQueue_I8 polyA , GrowQueue_I8 polyB , GrowQueue_I8 output ) {
output.resize(Math.max(polyA.size,polyB.size));
// compute offset that would align the smaller polynomial with the larger polynomial
int offsetA = Math.max(0,polyB.size-polyA.size);
int offsetB = Math.max(0,polyA.size-polyB.s... | java |
public void polyAdd_S(GrowQueue_I8 polyA , GrowQueue_I8 polyB , GrowQueue_I8 output ) {
output.resize(Math.max(polyA.size,polyB.size));
int M = Math.min(polyA.size, polyB.size);
for (int i = M; i < polyA.size; i++) {
output.data[i] = polyA.data[i];
}
for (int i = M; i < polyB.size; i++) {
output.data[i... | java |
public void polyAddScaleB(GrowQueue_I8 polyA , GrowQueue_I8 polyB , int scaleB , GrowQueue_I8 output ) {
output.resize(Math.max(polyA.size,polyB.size));
// compute offset that would align the smaller polynomial with the larger polynomial
int offsetA = Math.max(0,polyB.size-polyA.size);
int offsetB = Math.max(0... | java |
public int polyEval(GrowQueue_I8 input , int x ) {
int y = input.data[0]&0xFF;
for (int i = 1; i < input.size; i++) {
y = multiply(y,x) ^ (input.data[i]&0xFF);
}
return y;
} | java |
public int polyEvalContinue( int previousOutput, GrowQueue_I8 part , int x ) {
int y = previousOutput;
for (int i = 0; i < part.size; i++) {
y = multiply(y,x) ^ (part.data[i]&0xFF);
}
return y;
} | java |
public void polyDivide(GrowQueue_I8 dividend , GrowQueue_I8 divisor ,
GrowQueue_I8 quotient, GrowQueue_I8 remainder ) {
// handle special case
if( divisor.size > dividend.size ) {
remainder.setTo(dividend);
quotient.resize(0);
return;
} else {
remainder.resize(divisor.size-1);
quotient.se... | java |
public static ConfigQrCode fast() {
// A global threshold is faster than any local algorithm
// plus it will generate a simpler set of internal contours speeding up that process
ConfigQrCode config = new ConfigQrCode();
config.threshold = ConfigThreshold.global(ThresholdType.GLOBAL_OTSU);
return config;
} | java |
private void drawDistribution( Graphics2D g2 , List<Point2D_F64> candidates ,
int offX, int offY , double scale) {
findStatistics();
// draw all the features, adjusting their size based on the first score
g2.setColor(Color.RED);
g2.setStroke(new BasicStroke(3));
double normalizer;
if( scorer.getSco... | java |
public void process(List<ChessboardCorner> corners ) {
this.corners = corners;
// reset internal data structures
vertexes.reset();
edges.reset();
clusters.reset();
// Create a vertex for each corner
for (int idx = 0; idx < corners.size(); idx++) {
Vertex v = vertexes.grow();
v.reset();
v.index ... | java |
public void printDualGraph() {
System.out.println("============= Dual");
int l = BoofMiscOps.numDigits(vertexes.size);
String format = "%"+l+"d";
for( Vertex n : vertexes.toList() ) {
ChessboardCorner c = corners.get(n.index);
System.out.printf("["+format+"] {%3.0f, %3.0f} -> 90[ ",n.index,c.x,c.y);
... | java |
void findVertexNeighbors(Vertex target , List<ChessboardCorner> corners ) {
// if( target.index == 18 ) {
// System.out.println("Vertex Neighbors "+target.index);
// }
ChessboardCorner targetCorner = corners.get(target.index);
// distance is Euclidean squared
double maxDist = Double.MAX_VALUE==maxNeighborDi... | java |
void handleAmbiguousVertexes(List<ChessboardCorner> corners) {
List<Vertex> candidates = new ArrayList<>();
for (int idx = 0; idx < vertexes.size(); idx++) {
Vertex target = vertexes.get(idx);
// median distance was previously found based on the closer neighbors. In an actual chessboard
// there are solid... | java |
void disconnectInvalidVertices() {
// add elements with 1 or 2 edges
openVertexes.clear();
for (int idxVert = 0; idxVert < vertexes.size; idxVert++) {
Vertex n = vertexes.get(idxVert);
if( n.connections.size() == 1 || n.connections.size()==2) {
openVertexes.add(n);
}
}
// continue until there ar... | java |
void removeReferences( Vertex remove , EdgeType type ) {
EdgeSet removeSet = remove.getEdgeSet(type);
for (int i = removeSet.size()-1; i >= 0; i--) {
Vertex v = removeSet.get(i).dst;
EdgeSet setV = v.getEdgeSet(type);
// remove the connection from v to 'remove'. Be careful since the connection isn't always... | java |
void selectConnections( Vertex target ) {
// There needs to be at least two corners
if( target.perpendicular.size() <= 1 )
return;
// if( target.index == 16 ) {
// System.out.println("ASDSAD");
// }
// System.out.println("======= Connecting "+target.index);
double bestError = Double.MAX_VALUE;
List<Ed... | java |
boolean findNext( int firstIdx , EdgeSet splitterSet , EdgeSet candidateSet ,
double parallel,
SearchResults results ) {
Edge e0 = candidateSet.get(firstIdx);
results.index = -1;
results.error = Double.MAX_VALUE;
boolean checkParallel = !Double.isNaN(parallel);
for (int i = 0; i < candidateSet... | java |
boolean findSplitter(double ccw0 , double ccw1 ,
EdgeSet master , EdgeSet other1 , EdgeSet other2 ,
TupleI32 output ) {
double bestDistance = Double.MAX_VALUE;
for (int i = 0; i < master.size(); i++) {
// select the splitter
Edge me = master.get(i);
// TODO decide if this is helpful or not... | java |
private void repairVertexes() {
// System.out.println("######## Repair");
for (int idxV = 0; idxV < dirtyVertexes.size(); idxV++) {
final Vertex v = dirtyVertexes.get(idxV);
// System.out.println(" dirty="+v.index);
bestSolution.clear();
for (int idxE = 0; idxE < v.perpendicular.size(); idxE++) {
/... | java |
private void convertToOutput(List<ChessboardCorner> corners) {
c2n.resize(corners.size());
n2c.resize(vertexes.size());
open.reset();
n2c.fill(-1);
c2n.fill(-1);
for (int seedIdx = 0; seedIdx < vertexes.size; seedIdx++) {
Vertex seedN = vertexes.get(seedIdx);
if( seedN.marked)
continue;
Chess... | java |
private void growCluster(List<ChessboardCorner> corners, int seedIdx, ChessboardCornerGraph graph) {
// open contains corner list indexes
open.add(seedIdx);
while( open.size > 0 ) {
int cornerIdx = open.pop();
Vertex v = vertexes.get(cornerIdx);
// make sure it hasn't already been processed
if( v.mar... | java |
public void setTransform( PixelTransform<Point2D_F32> undistToDist ) {
if( undistToDist != null ) {
InterpolatePixelS<T> interpolate = FactoryInterpolation.bilinearPixelS(imageType, BorderType.EXTENDED);
integralImage = new GImageGrayDistorted<>(undistToDist, interpolate);
} else {
integralImage = FactoryG... | java |
public void process( Point3D_F64 e2 , Point3D_F64 e3 , DMatrixRMaj A ) {
// construct the linear system that the solution which solves the unknown square
// matrices in the camera matrices
constructE(e2, e3);
// Computes U, which is used to map the 18 unknowns onto the 27 trifocal unknowns
svdU.decompose(E);... | java |
protected void constructE( Point3D_F64 e2 , Point3D_F64 e3 ) {
E.zero();
for( int i = 0; i < 3; i++ ) {
for( int j = 0; j < 3; j++ ) {
for( int k = 0; k < 3; k++ ) {
// which element in the trifocal tensor is being manipulated
int row = 9*i + 3*j + k;
// which unknowns are being multiplied by... | java |
public TrifocalTensor copy() {
TrifocalTensor ret = new TrifocalTensor();
ret.T1.set(T1);
ret.T2.set(T2);
ret.T3.set(T3);
return ret;
} | java |
public void setImages( Input left , Input right ) {
InputSanityCheck.checkSameShape(left, right);
this.left = left;
this.right = right;
} | java |
protected <T extends ImageBase> ImageType<T> getImageType( int which ) {
synchronized ( inputStreams ) {
return inputStreams.get(which).imageType;
}
} | java |
private void updateRecentItems() {
if( menuRecent == null )
return;
menuRecent.removeAll();
List<String> recentFiles = BoofSwingUtil.getListOfRecentFiles(this);
for( String filePath : recentFiles ) {
final File f = new File(filePath);
JMenuItem recentItem = new JMenuItem(f.getName());
recentItem.add... | java |
public void openExample( Object o ) {
if (o instanceof PathLabel) {
PathLabel p = (PathLabel)o;
if( p.path.length == 1 )
openFile(new File(p.path[0]));
else {
// openFile(new File(p.path[0]));
openImageSet(p.path);
}
} else if (o instanceof String) {
openFile(new File((String) o));
} els... | java |
public void stopAllInputProcessing() {
ProcessThread threadProcess;
synchronized (inputStreams) {
threadProcess = this.threadProcess;
if( threadProcess != null ) {
if( threadProcess.running ) {
threadProcess.requestStop = true;
} else {
threadProcess = this.threadProcess = null;
}
}
... | java |
public void openFile(File file) {
final String path = massageFilePath(file);
if( path == null )
return;
inputFilePath = path;
// update recent items menu
BoofSwingUtil.invokeNowOrLater(() -> {
BoofSwingUtil.addToRecentFiles(DemonstrationBase.this,path);
updateRecentItems();
});
BufferedImage bu... | java |
public void openImageSet(String ...files ) {
synchronized (lockStartingProcess) {
if( startingProcess ) {
System.out.println("Ignoring open image set request. Detected spamming");
return;
}
startingProcess = true;
}
stopAllInputProcessing();
synchronized (inputStreams) {
inputMethod = Inp... | java |
public void openNextFile() {
if( inputFilePath == null || inputMethod != InputMethod.IMAGE )
return;
String path;
try {
// need to remove annoying %20 from the path is there is whitespace
path = URLDecoder.decode(inputFilePath, "utf-8");
} catch (UnsupportedEncodingException e) {
e.printStackTrace(... | java |
protected void openVideo(boolean reopen , String ...filePaths) {
synchronized (lockStartingProcess) {
if( startingProcess ) {
System.out.println("Ignoring video request. Detected spamming");
return;
}
startingProcess = true;
}
synchronized (inputStreams) {
if (inputStreams.size() != filePath... | java |
public void display(String appName ) {
waitUntilInputSizeIsKnown();
this.appName = appName;
window = ShowImages.showWindow(this,appName,true);
window.setJMenuBar(menuBar);
} | java |
protected void openFileMenuBar() {
List<BoofSwingUtil.FileTypes> types = new ArrayList<>();
if( allowImages )
types.add(BoofSwingUtil.FileTypes.IMAGES);
if( allowVideos )
types.add(BoofSwingUtil.FileTypes.VIDEOS);
BoofSwingUtil.FileTypes array[] = types.toArray(new BoofSwingUtil.FileTypes[0]);
File fil... | java |
public void reprocessInput() {
if ( inputMethod == InputMethod.VIDEO ) {
openVideo(true,inputFilePath);
} else if( inputMethod == InputMethod.IMAGE ) {
BufferedImage buff = inputStreams.get(0).getBufferedImage();
openImage(true,new File(inputFilePath).getName(),buff);// TODO still does a pointless image co... | java |
public void process(I image, D derivX, D derivY, D derivXX, D derivYY, D derivXY) {
intensity.process(image, derivX, derivY, derivXX, derivYY, derivXY);
GrayF32 intensityImage = intensity.getIntensity();
int numSelectMin = -1;
int numSelectMax = -1;
if( maxFeatures > 0 ) {
if( intensity.localMinimums() )
... | java |
public static <T extends ImageBase<T>, II extends ImageGray<II>>
DescribeRegionPoint<T,BrightFeature> surfColorStable(ConfigSurfDescribe.Stability config, ImageType<T> imageType) {
Class bandType = imageType.getImageClass();
Class<II> integralType = GIntegralImageOps.getIntegralType(bandType);
DescribePointSur... | java |
@SuppressWarnings({"unchecked"})
public static <T extends ImageGray<T>, D extends TupleDesc>
DescribeRegionPoint<T,D> pixel( int regionWidth , int regionHeight , Class<T> imageType ) {
return new WrapDescribePixelRegion(
FactoryDescribePointAlgs.pixelRegion(regionWidth,regionHeight,imageType),imageType);
} | java |
@SuppressWarnings({"unchecked"})
public static <T extends ImageGray<T>>
DescribeRegionPoint<T,NccFeature> pixelNCC( int regionWidth , int regionHeight , Class<T> imageType ) {
return new WrapDescribePixelRegionNCC(
FactoryDescribePointAlgs.pixelRegionNCC(regionWidth,regionHeight,imageType),imageType);
} | java |
public static <T extends CameraPinhole> void save(T parameters , Writer outputWriter ) {
PrintWriter out = new PrintWriter(outputWriter);
Yaml yaml = createYmlObject();
Map<String, Object> data = new HashMap<>();
if( parameters instanceof CameraPinholeBrown) {
out.println("# Pinhole camera model with radi... | java |
public static void save(StereoParameters parameters , Writer outputWriter ) {
Map<String, Object> map = new HashMap<>();
map.put("model",MODEL_STEREO);
map.put(VERSION,0);
map.put("left",putModelRadial(parameters.left,null));
map.put("right",putModelRadial(parameters.right,null));
map.put("rightToLeft",put... | java |
public static <T> T load(Reader reader ) {
Yaml yaml = createYmlObject();
Map<String,Object> data = (Map<String, Object>) yaml.load(reader);
try {
reader.close();
} catch (IOException e) {
throw new RuntimeException(e);
}
return load(data);
} | java |
public boolean process( List<CalibrationObservation> observations ) {
// compute initial parameter estimates using linear algebra
if( !linearEstimate(observations) )
return false;
status("Non-linear refinement");
// perform non-linear optimization to improve results
if( !performBundleAdjustment())
ret... | java |
protected boolean linearEstimate(List<CalibrationObservation> observations )
{
status("Estimating Homographies");
List<DMatrixRMaj> homographies = new ArrayList<>();
List<Se3_F64> motions = new ArrayList<>();
for( CalibrationObservation obs : observations ) {
if( !computeHomography.computeHomography(obs) ... | java |
public boolean performBundleAdjustment()
{
// Configure the sparse Levenberg-Marquardt solver
ConfigLevenbergMarquardt configLM = new ConfigLevenbergMarquardt();
configLM.hessianScaling = false;
ConfigBundleAdjustment configSBA = new ConfigBundleAdjustment();
configSBA.configOptimizer = configLM;
BundleA... | java |
public static void applyDistortion(Point2D_F64 normPt, double[] radial, double t1 , double t2 )
{
final double x = normPt.x;
final double y = normPt.y;
double a = 0;
double r2 = x*x + y*y;
double r2i = r2;
for( int i = 0; i < radial.length; i++ ) {
a += radial[i]*r2i;
r2i *= r2;
}
normPt.x = x ... | java |
@Override
public double computeDistance(AssociatedPair obs) {
// triangulate the point in 3D space
triangulate.triangulate(obs.p1,obs.p2,keyToCurr,p);
if( p.z < 0 )
return Double.MAX_VALUE;
// compute observational error in each view
double error = errorCam1.errorSq(obs.p1.x,obs.p1.y,p.x/p.z,p.y/p.z);
... | java |
public static <I extends ImageGray<I>, D extends ImageGray<D>>
Class<D> getDerivativeType( Class<I> imageType ) {
if( imageType == GrayF32.class ) {
return (Class<D>) GrayF32.class;
} else if( imageType == GrayU8.class ) {
return (Class<D>) GrayS16.class;
} else if( imageType == GrayU16.class ) {
retur... | java |
public static <I extends ImageGray<I>, D extends ImageGray<D>>
void hessian( DerivativeType type , I input , D derivXX , D derivYY , D derivXY , BorderType borderType ) {
ImageBorder<I> border = BorderType.SKIP == borderType ? null : FactoryImageBorder.wrap(borderType, input);
switch( type ) {
case SOBEL:
... | java |
public static <D extends ImageGray<D>>
void hessian( DerivativeType type , D derivX , D derivY , D derivXX , D derivYY , D derivXY , BorderType borderType ) {
ImageBorder<D> border = BorderType.SKIP == borderType ? null : FactoryImageBorder.wrap(borderType, derivX);
switch( type ) {
case PREWITT:
if( deriv... | java |
public static KernelBase lookupKernelX( DerivativeType type , boolean isInteger) {
switch( type ) {
case PREWITT:
return GradientPrewitt.getKernelX(isInteger);
case SOBEL:
return GradientSobel.getKernelX(isInteger);
case THREE:
return GradientThree.getKernelX(isInteger);
case TWO_0:
ret... | java |
boolean computeEllipseCenters() {
keypoints.reset();
for (int tangentIdx = 0; tangentIdx < tangents.size(); tangentIdx++) {
// System.out.println("tangent id "+tangentIdx);
Tangents t = tangents.get(tangentIdx);
Point2D_F64 center = keypoints.grow();
center.set(0,0);
double totalWeight = 0;
for (... | java |
public T getBand(int band) {
if (band >= bands.length || band < 0)
throw new IllegalArgumentException("The specified band is out of bounds: "+band);
return bands[band];
} | java |
@Override
public void setTo( Planar<T> orig) {
if (orig.width != width || orig.height != height)
reshape(orig.width,orig.height);
if( orig.getBandType() != getBandType() )
throw new IllegalArgumentException("The band type must be the same");
int N = orig.getNumBands();
if( N != getNumBands() ) {
setN... | java |
@Override
public Planar<T> createNew(int imgWidth, int imgHeight) {
return new Planar<>(type, imgWidth, imgHeight, bands.length);
} | java |
public void reorderBands( int ...order ) {
T[] bands = (T[]) Array.newInstance(type, order.length);
for (int i = 0; i < order.length; i++) {
bands[i] = this.bands[order[i]];
}
this.bands = bands;
} | java |
@Override
public void setNumberOfBands( int numberOfBands ) {
if( numberOfBands == this.bands.length )
return;
T[] bands = (T[]) Array.newInstance(type, numberOfBands);
int N = Math.min(numberOfBands, this.bands.length );
for (int i = 0; i < N; i++) {
bands[i] = this.bands[i];
}
for (int i = N; i < ... | java |
public double computeAccuracy() {
double totalCorrect = 0;
double totalIncorrect = 0;
for (int i = 0; i < actualCounts.length; i++) {
for (int j = 0; j < actualCounts.length; j++) {
if( i == j ) {
totalCorrect += matrix.get(i,j);
} else {
totalIncorrect += matrix.get(i,j);
}
}
}
... | java |
public void addImage( CalibrationObservation observation ) {
if( imageWidth == 0 ) {
this.imageWidth = observation.getWidth();
this.imageHeight = observation.getHeight();
} else if( observation.getWidth() != this.imageWidth || observation.getHeight() != this.imageHeight) {
throw new IllegalArgumentExceptio... | java |
public <T extends CameraModel>T process() {
if( zhang99 == null )
throw new IllegalArgumentException("Please call configure first.");
zhang99.setVerbose(verbose,0);
if( !zhang99.process(observations) ) {
throw new RuntimeException("Zhang99 algorithm failed!");
}
structure = zhang99.getStructure();
e... | java |
public static void printErrors( List<ImageResults> results ) {
double totalError = 0;
for( int i = 0; i < results.size(); i++ ) {
ImageResults r = results.get(i);
totalError += r.meanError;
System.out.printf("image %3d Euclidean ( mean = %7.1e max = %7.1e ) bias ( X = %8.1e Y %8.1e )\n",i,r.meanError,r.ma... | java |
private void renderLabels(Graphics2D g2, double fontSize) {
int numCategories = confusion.getNumRows();
int longestLabel = 0;
if(renderLabels) {
for (int i = 0; i < numCategories; i++) {
longestLabel = Math.max(longestLabel,labels.get(i).length());
}
}
Font fontLabel = new Font("monospaced", Font.... | java |
private void renderMatrix(Graphics2D g2, double fontSize) {
int numCategories = confusion.getNumRows();
Font fontNumber = new Font("Serif", Font.BOLD, (int)(0.6*fontSize + 0.5));
g2.setFont(fontNumber);
FontMetrics metrics = g2.getFontMetrics(fontNumber);
for (int i = 0; i < numCategories; i++) {
int y0 =... | java |
public LocationInfo whatIsAtPoint( int pixelX , int pixelY , LocationInfo output ) {
if( output == null )
output = new LocationInfo();
int numCategories = confusion.getNumRows();
synchronized ( this ) {
if( pixelX >= gridWidth ) {
output.insideMatrix = false;
output.col = output.row = pixelY*numCa... | java |
public void configure( int widthStitch, int heightStitch , IT worldToInit ) {
this.worldToInit = (IT)worldToCurr.createInstance();
if( worldToInit != null )
this.worldToInit.set(worldToInit);
this.widthStitch = widthStitch;
this.heightStitch = heightStitch;
} | java |
public void reset() {
if( stitchedImage != null )
GImageMiscOps.fill(stitchedImage, 0);
motion.reset();
worldToCurr.reset();
first = true;
} | java |
private boolean checkLargeMotion( int width , int height ) {
if( first ) {
getImageCorners(width,height,corners);
previousArea = computeArea(corners);
first = false;
} else {
getImageCorners(width,height,corners);
double area = computeArea(corners);
double change = Math.max(area/previousArea,pre... | java |
private void update(I image) {
computeCurrToInit_PixelTran();
// only process a cropped portion to speed up processing
RectangleLength2D_I32 box = DistortImageOps.boundBox(image.width, image.height,
stitchedImage.width, stitchedImage.height,work, tranCurrToWorld);
int x0 = box.x0;
int y0 = box.y0;
int... | java |
public void resizeStitchImage( int widthStitch, int heightStitch , IT newToOldStitch ) {
// copy the old image into the new one
workImage.reshape(widthStitch,heightStitch);
GImageMiscOps.fill(workImage, 0);
if( newToOldStitch != null ) {
PixelTransform<Point2D_F32> newToOld = converter.convertPixel(newToOld... | java |
public Corners getImageCorners( int width , int height , Corners corners ) {
if( corners == null )
corners = new Corners();
int w = width;
int h = height;
tranCurrToWorld.compute(0,0,work); corners.p0.set(work.x, work.y);
tranCurrToWorld.compute(w,0,work); corners.p1.set(work.x, work.y);
tranCurrTo... | java |
private void minimizeWithGeometricConstraints() {
extractEpipoles.setTensor(solutionN);
extractEpipoles.extractEpipoles(e2,e3);
// encode the parameters being optimized
param[0] = e2.x; param[1] = e2.y; param[2] = e2.z;
param[3] = e3.x; param[4] = e3.y; param[5] = e3.z;
// adjust the error function for th... | java |
public boolean checkConstraint( Point2D_F64 viewA , Point2D_F64 viewB , Se3_F64 fromAtoB ) {
triangulate.triangulate(viewA,viewB,fromAtoB,P);
if( P.z > 0 ) {
SePointOps_F64.transform(fromAtoB,P,P);
return P.z > 0;
}
return false;
} | java |
public static <I extends ImageBase<I>, IT extends InvertibleTransform>
ImageMotion2D<I,IT> createMotion2D( int ransacIterations , double inlierThreshold,int outlierPrune,
int absoluteMinimumTracks, double respawnTrackFraction,
double respawnCoverageFraction,
boolean refineEstimate ,
... | java |
@SuppressWarnings("unchecked")
public static <I extends ImageBase<I>, IT extends InvertibleTransform>
StitchingFromMotion2D<I, IT>
createVideoStitch( double maxJumpFraction , ImageMotion2D<I,IT> motion2D , ImageType<I> imageType ) {
StitchingTransform<IT> transform;
if( motion2D.getTransformType() == Affine2D_F... | java |
public static int min( GrayS32 input ) {
if( BoofConcurrency.USE_CONCURRENT ) {
return ImplImageStatistics_MT.min(input.data, input.startIndex, input.height, input.width , input.stride);
} else {
return ImplImageStatistics.min(input.data, input.startIndex, input.height, input.width , input.stride);
}
} | java |
public static float maxAbs( InterleavedF32 input ) {
if( BoofConcurrency.USE_CONCURRENT ) {
return ImplImageStatistics_MT.maxAbs(input.data, input.startIndex, input.height, input.width*input.numBands , input.stride);
} else {
return ImplImageStatistics.maxAbs(input.data, input.startIndex, input.height, input.... | java |
private void connectToNeighbors(int x, int y ) {
List<LineSegment2D_F32> lines = grid.get(x,y);
Iterator<LineSegment2D_F32> iter = lines.iterator();
while( iter.hasNext() )
{
LineSegment2D_F32 l = iter.next();
boolean connected = false;
if( connectTry(l,x+1,y) )
connected = true;
if( !connecte... | java |
private boolean connectTry( LineSegment2D_F32 target , int x , int y ) {
if( !grid.isInBounds(x,y) )
return false;
List<LineSegment2D_F32> lines = grid.get(x,y);
int index = findBestCompatible(target,lines,0);
if( index == -1 )
return false;
LineSegment2D_F32 b = lines.remove(index);
// join the ... | java |
private void connectInSameElement(List<LineSegment2D_F32> lines ) {
for( int i = 0; i < lines.size(); i++ ) {
LineSegment2D_F32 a = lines.get(i);
int index = findBestCompatible(a,lines,i+1);
if( index == -1 )
continue;
// remove the line from the index which it is being connected to
LineSegment2D... | java |
private int findBestCompatible( LineSegment2D_F32 target ,
List<LineSegment2D_F32> candidates ,
int start )
{
int bestIndex = -1;
double bestDistance = Double.MAX_VALUE;
int bestFarthest = 0;
float targetAngle = UtilAngle.atanSafe(target.slopeY(),target.slopeX());
float cos = (float)Math.c... | java |
private void closestFarthestPoints(LineSegment2D_F32 a, LineSegment2D_F32 b)
{
dist[0] = a.a.distance2(b.a);
dist[1] = a.a.distance2(b.b);
dist[2] = a.b.distance2(b.a);
dist[3] = a.b.distance2(b.b);
// find the two points which are closest together and save which ones those are
// for future reference
f... | java |
protected void selectBoundaryCorners() {
List<Point2D_F64> layout = detector.getLayout();
Polygon2D_F64 hull = new Polygon2D_F64();
UtilPolygons2D_F64.convexHull(layout,hull);
UtilPolygons2D_F64.removeAlmostParallel(hull,0.02);
boundaryIndexes = new int[hull.size()];
for (int i = 0; i < hull.size(); i++) ... | java |
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