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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.5

/*
 * 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.alg.geo.robust;

import boofcv.struct.geo.AssociatedPair;
import georegression.struct.point.Point2D_F64;
import georegression.struct.se.Se2_F64;
import georegression.transform.se.SePointOps_F64;
import org.ddogleg.fitting.modelset.DistanceFromModel;

import java.util.List;

/**
 * Computes the Euclidean error squared between the predicted and actual location of 2D features after applying
 * a {@link Se2_F64} transform.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class DistanceSe2Sq implements DistanceFromModel {

	// motion from key frame to current frame in plane 2D reference frame
	Se2_F64 keyToCurr;

	// location of point on plane in current ref frame in 2D
	Point2D_F64 curr2D = new Point2D_F64();

	@Override
	public void setModel( Se2_F64 keyToCurr ) {
		this.keyToCurr = keyToCurr;
	}

	@Override
	public double distance( AssociatedPair sample ) {

		// apply transform from key frame to current frame
		SePointOps_F64.transform(keyToCurr, sample.p1, curr2D);

		// Euclidean pixel error squared error
		double dx = curr2D.x - sample.p2.x;
		double dy = curr2D.y - sample.p2.y;

		return dx*dx + dy*dy;
	}

	@Override
	public void distances( List samples, double[] distance ) {
		for (int i = 0; i < samples.size(); i++) {
			distance[i] = distance(samples.get(i));
		}
	}

	@Override
	public Class getPointType() {
		return AssociatedPair.class;
	}

	@Override
	public Class getModelType() {
		return Se2_F64.class;
	}
}