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

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

There is a newer version: 0.26

/*
 * Copyright (c) 2011-2015, 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.alg.geo.NormalizedToPixelError;
import boofcv.struct.geo.AssociatedPair;
import georegression.struct.homography.Homography2D_F64;
import georegression.struct.point.Point2D_F64;
import georegression.transform.homography.HomographyPointOps_F64;
import org.ddogleg.fitting.modelset.DistanceFromModel;

import java.util.List;


/**
 * 
 * Computes the Euclidean error squared between 'p1' and 'p2' after projecting 'p1' into image 2.  Input
 * points must be in normalized image coordinates, but the output error will be in pixel coordinates.
 * 
 * 
 * @author Peter Abeles
 */
public class DistanceHomographyPixelSq implements DistanceFromModel {

	Homography2D_F64 model;
	Point2D_F64 expected = new Point2D_F64();

	NormalizedToPixelError errorCam2 = new NormalizedToPixelError();

	/**
	 * Specifies intrinsic parameters for camera 2.
	 *
	 * @param cam2_fx intrinsic parameter: focal length x for camera 2
	 * @param cam2_fy intrinsic parameter: focal length y for camera 2
	 * @param cam2_skew intrinsic parameter: skew for camera 2 (usually zero)
	 */
	public void setIntrinsic(double cam2_fx, double cam2_fy , double cam2_skew) {
		errorCam2.set(cam2_fx,cam2_fy, cam2_skew);
	}

	@Override
	public void setModel(Homography2D_F64 model ) {
		this.model = model;
	}

	@Override
	public double computeDistance(AssociatedPair pt) {
		HomographyPointOps_F64.transform(model, pt.p1, expected);

		return errorCam2.errorSq(expected,pt.p2);
	}

	@Override
	public void computeDistance(List points, double[] distance) {
		for( int i = 0; i < points.size(); i++ ) {
			AssociatedPair p = points.get(i);
			HomographyPointOps_F64.transform(model, p.p1, expected);

			distance[i] = errorCam2.errorSq(expected,p.p2);
		}
	}
}