boofcv.alg.geo.h.HomographyResidualTransfer 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: 0.26

/*
 * Copyright (c) 2011-2013, 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.h;

import boofcv.alg.geo.ModelObservationResidualN;
import boofcv.struct.geo.AssociatedPair;
import georegression.geometry.GeometryMath_F64;
import georegression.struct.point.Point2D_F64;
import org.ejml.data.DenseMatrix64F;

/**
 * 
 * Computes the difference between the point projected by the homography and its observed location.
 * Fast to compute but less theoretically correct than others.
 * 
 *
 * @author Peter Abeles
 */
public class HomographyResidualTransfer
		implements ModelObservationResidualN {

	DenseMatrix64F H;

	Point2D_F64 temp = new Point2D_F64();

	@Override
	public void setModel(DenseMatrix64F F) {
		this.H = F;
	}

	@Override
	public int computeResiduals(AssociatedPair p, double[] residuals, int index) {

		GeometryMath_F64.mult(H, p.p1, temp);

		residuals[index++] = temp.x-p.p2.x;
		residuals[index++] = temp.y-p.p2.y;

		return index;
	}

	@Override
	public int getN() {
		return 2;
	}
}