boofcv.alg.geo.robust.GenerateSe2_AssociatedPair Maven / Gradle / Ivy

Show more of this group Show more artifacts with this name
Show all versions of boofcv-geo Show documentation

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.fitting.MotionTransformPoint;
import georegression.struct.point.Point2D_F64;
import georegression.struct.se.Se2_F64;
import org.ddogleg.fitting.modelset.ModelGenerator;

import java.util.ArrayList;
import java.util.List;

/**
 * Uses {@link MotionTransformPoint} to estimate the rigid body motion in 2D between two sets of points
 *
 * @author Peter Abeles
 */
public class GenerateSe2_AssociatedPair implements
		ModelGenerator {
	MotionTransformPoint estimate;

	List from = new ArrayList<>();
	List to = new ArrayList<>();

	public GenerateSe2_AssociatedPair( MotionTransformPoint estimate ) {
		this.estimate = estimate;
	}

	@Override
	public boolean generate( List dataSet, Se2_F64 output ) {
		from.clear();
		to.clear();

		for (int i = 0; i < dataSet.size(); i++) {
			AssociatedPair p = dataSet.get(i);

			from.add(p.getP1());
			to.add(p.getP2());
		}

		if (!estimate.process(from, to))
			return false;

		output.setTo(estimate.getTransformSrcToDst());
		return true;
	}

	@Override
	public int getMinimumPoints() {
		return estimate.getMinimumPoints();
	}
}