boofcv.alg.geo.robust.GenerateAffine2D Maven / Gradle / Ivy

Go to download

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

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

There is a newer version: 0.24.1

/*
 * 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.struct.geo.AssociatedPair;
import georegression.fitting.affine.MotionAffinePoint2D_F64;
import georegression.struct.affine.Affine2D_F64;
import georegression.struct.point.Point2D_F64;
import org.ddogleg.fitting.modelset.ModelFitter;
import org.ddogleg.fitting.modelset.ModelGenerator;

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


/**
 * Fits an {@link Affine2D_F64} motion model to a list of {@link AssociatedPair}.
 *
 * @author Peter Abeles
 */
public class GenerateAffine2D implements
		ModelGenerator,
		ModelFitter
{

	// model affine fitter
	MotionAffinePoint2D_F64 fitter = new MotionAffinePoint2D_F64();

	// key frame points
	List from = new ArrayList();
	// current frame points
	List to = new ArrayList();

	@Override
	public boolean fitModel(List dataSet, Affine2D_F64 initial, Affine2D_F64 found) {
		from.clear();
		to.clear();

		for( int i = 0; i < dataSet.size(); i++ ) {
			AssociatedPair p = dataSet.get(i);
			from.add(p.p1);
			to.add(p.p2);
		}

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

		found.set(fitter.getTransformSrcToDst());
		return true;
	}

	@Override
	public boolean generate(List dataSet, Affine2D_F64 model ) {

		from.clear();
		to.clear();

		for( int i = 0; i < dataSet.size(); i++ ) {
			AssociatedPair p = dataSet.get(i);
			from.add(p.p1);
			to.add(p.p2);
		}

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

		model.set(fitter.getTransformSrcToDst());

		return true;
	}

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