/*
* Copyright (c) 2011-2016, 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.alg.distort.spherical;
import boofcv.alg.distort.ImageDistort;
import boofcv.alg.distort.LensDistortionWideFOV;
import boofcv.alg.interpolate.InterpolationType;
import boofcv.alg.misc.ImageMiscOps;
import boofcv.core.image.border.BorderType;
import boofcv.factory.distort.FactoryDistort;
import boofcv.struct.distort.Point2Transform3_F32;
import boofcv.struct.distort.Point2Transform3_F64;
import boofcv.struct.distort.Point3Transform2_F32;
import boofcv.struct.distort.Point3Transform2_F64;
import boofcv.struct.image.GrayF32;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.ImageType;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.metric.UtilAngle;
import georegression.struct.EulerType;
import georegression.struct.point.Point2D_F32;
import georegression.struct.point.Point3D_F32;
import georegression.struct.se.Se3_F64;
import org.junit.Test;
import java.util.ArrayList;
import java.util.List;
import static org.junit.Assert.assertTrue;
/**
* Unit tests below handle the following:
* 1) masking due to an explicit mask
* 2) masking due to non-invertible function
*
* Do not check the following:
* 1) Return of NaN in forward or reverse direction
* 2) Transform goes outside of the input image
*
* @author Peter Abeles
*/
public class TestMultiCameraToEquirectangular {
private int inputHeight = 150;
private int inputWidth = 200;
private int equiHeight = 200;
private int equiWidth = 250;
@Test
public void all() {
MultiCameraToEquirectangular<GrayF32> alg = createAlgorithm();
alg.addCamera(new Se3_F64(),new HelperDistortion(),inputWidth,inputHeight);
Se3_F64 cam2_to_1 = new Se3_F64();
ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,Math.PI,0,0,cam2_to_1.R);
alg.addCamera(cam2_to_1,new HelperDistortion(),inputWidth,inputHeight);
GrayF32 image0 = new GrayF32(inputWidth,inputHeight);
GrayF32 image1 = new GrayF32(inputWidth,inputHeight);
ImageMiscOps.fill(image0,200);
ImageMiscOps.fill(image1,100);
List<GrayF32> images = new ArrayList<>();
images.add(image0);
images.add(image1);
alg.render(images);
GrayF32 found = alg.getRenderedImage();
double totalError = 0;
for (int y = 0; y < equiHeight; y++) {
for (int x = 0; x < equiWidth; x++) {
if( y < equiHeight/2 ) {
totalError += Math.abs(200-found.get(x,y));
} else {
totalError += Math.abs(100-found.get(x,y));
}
}
}
double errorFraction = totalError/(equiWidth*equiHeight*100);
assertTrue(errorFraction<0.05);
}
@Test
public void addCamera_implicit_mask() {
MultiCameraToEquirectangular<GrayF32> alg = createAlgorithm();
alg.addCamera(new Se3_F64(),new HelperDistortion(),inputWidth,inputHeight);
MultiCameraToEquirectangular.Camera c = alg.cameras.get(0);
// should be masked off by the passed in mask and because values are repeated
int correct = 0;
for (int y = 0; y < inputHeight; y++) {
for (int x = 0; x < inputWidth; x++) {
if( y<inputHeight/2 && c.mask.get(x,y) > 0 ) {
correct++;
}
}
}
double found = Math.abs(1.0 - correct/(inputWidth*inputHeight/2.0));
assertTrue(found <= 0.05 );
}
@Test
public void addCamera_explicit_mask() {
MultiCameraToEquirectangular<GrayF32> alg = createAlgorithm();
// mask out the right part of the image
GrayU8 mask = new GrayU8(inputWidth,inputHeight);
for (int y = 0; y < inputHeight; y++) {
for (int x = 0; x < inputWidth/2; x++) {
mask.set(x,y,1);
}
}
alg.addCamera(new Se3_F64(),new HelperDistortion(),mask);
MultiCameraToEquirectangular.Camera c = alg.cameras.get(0);
// should be masked off by the passed in mask and because values are repeated
int correct = 0;
for (int y = 0; y < inputHeight; y++) {
for (int x = 0; x < inputWidth; x++) {
boolean valid = y<inputHeight/2 && x < inputWidth/2;
if( valid && c.mask.get(x,y) > 0 ) {
correct++;
}
}
}
double found = Math.abs(1.0 - correct/(inputWidth*inputHeight/4.0));
assertTrue(found <= 0.05 );
}
private MultiCameraToEquirectangular<GrayF32> createAlgorithm() {
ImageType<GrayF32> imageType = ImageType.single(GrayF32.class);
ImageDistort<GrayF32,GrayF32> distort = FactoryDistort.
distort(false, InterpolationType.BILINEAR, BorderType.ZERO,imageType,imageType);
MultiCameraToEquirectangular<GrayF32> alg = new MultiCameraToEquirectangular<>(distort,
equiWidth, equiHeight, imageType);
alg.setMaskToleranceAngle(UtilAngle.radian(2)); // increase tolerance due to resolution
return alg;
}
private class HelperDistortion implements LensDistortionWideFOV {
@Override
public Point3Transform2_F64 distortStoP_F64() {return null;}
@Override
public Point3Transform2_F32 distortStoP_F32() {
return new HelperTransform();
}
@Override
public Point2Transform3_F64 undistortPtoS_F64() {return null;}
@Override
public Point2Transform3_F32 undistortPtoS_F32() {
return new HelperTransform();
}
}
/**
* Transform where multiple pixels in input image map to the same value
*/
private class HelperTransform implements Point3Transform2_F32, Point2Transform3_F32
{
EquirectangularTools_F32 tools = new EquirectangularTools_F32();
public HelperTransform() {
this.tools.configure(inputWidth, inputHeight);
}
@Override
public void compute(float x, float y, Point3D_F32 out) {
tools.equiToNormFV(x,y,out);
}
@Override
public void compute(float x, float y, float z, Point2D_F32 out) {
// multiple normal angles map to the same pixel. This will effectively make the top and bottom
// half of the image map to the same pixels. This should cause it to get masked out
tools.normToEquiFV(x,y,-Math.abs(z),out);
}
}
}