boofcv.struct.geo.AssociatedTriple Maven / Gradle / Ivy
Go to download
Show more of this group Show more artifacts with this name
Show all versions of boofcv-geo Show documentation
Show all versions of boofcv-geo Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2022, 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.struct.geo;
import georegression.struct.point.Point2D_F64;
/**
* Contains a set of three observations of the same point feature in three different views.
*
* @author Peter Abeles
*/
public class AssociatedTriple {
/** Observation in View 1 */
public Point2D_F64 p1;
/** Observation in View 2 */
public Point2D_F64 p2;
/** Observation in View 3 */
public Point2D_F64 p3;
public AssociatedTriple( Point2D_F64 p1, Point2D_F64 p2, Point2D_F64 p3 ) {
this(p1, p2, p3, true);
}
public AssociatedTriple( Point2D_F64 p1, Point2D_F64 p2, Point2D_F64 p3, boolean newInstance ) {
if (newInstance) {
this.p1 = p1.copy();
this.p2 = p2.copy();
this.p3 = p3.copy();
} else {
this.p1 = p1;
this.p2 = p2;
this.p3 = p3;
}
}
public AssociatedTriple() {
this.p1 = new Point2D_F64();
this.p2 = new Point2D_F64();
this.p3 = new Point2D_F64();
}
public AssociatedTriple setTo( AssociatedTriple a ) {
p1.setTo(a.p1);
p2.setTo(a.p2);
p3.setTo(a.p3);
return this;
}
public AssociatedTriple setTo( Point2D_F64 p1, Point2D_F64 p2, Point2D_F64 p3 ) {
this.p1.setTo(p1);
this.p2.setTo(p2);
this.p3.setTo(p3);
return this;
}
public AssociatedTriple setTo( double x1, double y1, double x2, double y2, double x3, double y3 ) {
this.p1.setTo(x1, y1);
this.p2.setTo(x2, y2);
this.p3.setTo(x3, y3);
return this;
}
public void zero() {
this.p1.zero();
this.p2.zero();
this.p3.zero();
}
public AssociatedTriple copy() {
AssociatedTriple r = new AssociatedTriple();
r.setTo(this);
return r;
}
public Point2D_F64 get( int i ) {
return switch (i) {
case 0 -> p1;
case 1 -> p2;
case 2 -> p3;
default -> throw new IllegalArgumentException("index must be 0,1,2");
};
}
public void set( int i, double x, double y ) {
switch (i) {
case 0 -> p1.setTo(x, y);
case 1 -> p2.setTo(x, y);
case 2 -> p3.setTo(x, y);
default -> throw new IllegalArgumentException("index must be 0,1,2");
}
}
public boolean isIdentical( AssociatedTriple o, double tol ) {
if (tol < o.p1.distance(p1))
return false;
if (tol < o.p2.distance(p2))
return false;
return tol >= o.p3.distance(p3);
}
public void print() {
System.out.println("AssociatedTriple( " + p1 + " , " + p2 + " , " + p3 + " )");
}
}
© 2015 - 2025 Weber Informatics LLC | Privacy Policy