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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2023, 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.calibration;
import boofcv.struct.geo.PointIndex2D_F64;
import georegression.struct.point.Point2D_F64;
import lombok.Getter;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
/**
* List of observed features and their pixel locations on a single calibration target from one image.
* Partially observable calibration targets is supported by the associated index for each point.
*
* @author Peter Abeles
*/
public class CalibrationObservation {
/** Which target was observed */
@Getter public int target;
/**
* List of pixel observations and the index of the control point
*/
@Getter public List points = new ArrayList<>();
public CalibrationObservation() {}
public CalibrationObservation( int target, List points ) {
this.target = target;
this.points.addAll(points);
}
public void setTo( CalibrationObservation obs ) {
reset();
this.target = obs.target;
for (int i = 0; i < obs.size(); i++) {
PointIndex2D_F64 p = obs.points.get(i);
points.add(p.copy());
}
}
public PointIndex2D_F64 get( int index ) {
return points.get(index);
}
/**
* Adds a new observation. A copy is made.
*
* @param which Index of the observed feature
* @param observation The observation. A copy is internally created.
*/
public void add( int which, Point2D_F64 observation ) {
points.add(new PointIndex2D_F64(observation.x, observation.y, which));
}
public void add( int which, double x, double y ) {
points.add(new PointIndex2D_F64(x, y, which));
}
public void reset() {
this.target = 0;
points.clear();
}
/**
* Ensures the points order is in increasing order of index value
*/
public void sort() {
// check to see if they are already ordered first to avoid wasting CPU
boolean ordered = true;
for (int i = 1; i < points.size(); i++) {
if (points.get(i - 1).index >= points.get(i).index) {
ordered = false;
break;
}
}
if (ordered)
return;
// Old style sort is used for java 1.8 compatibility
Collections.sort(points, Comparator.comparingInt(o -> o.index));
}
public int size() {
return points.size();
}
public CalibrationObservation copy() {
CalibrationObservation c = new CalibrationObservation();
c.setTo(this);
return c;
}
}
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