boofcv.alg.geo.robust.DistanceSe2Sq 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) 2011-2015, 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.struct.point.Point2D_F64;
import georegression.struct.se.Se2_F64;
import georegression.transform.se.SePointOps_F64;
import org.ddogleg.fitting.modelset.DistanceFromModel;

import java.util.List;

/**
 * Computes the Euclidean error squared between the predicted and actual location of 2D features after applying
 * a {@link Se2_F64} transform.
 *
 * @author Peter Abeles
 */
public class DistanceSe2Sq implements DistanceFromModel {

	// motion from key frame to current frame in plane 2D reference frame
	Se2_F64 keyToCurr;

	// location of point on plane in current ref frame in 2D
	Point2D_F64 curr2D = new Point2D_F64();

	@Override
	public void setModel(Se2_F64 keyToCurr) {
		this.keyToCurr = keyToCurr;
	}

	@Override
	public double computeDistance(AssociatedPair sample ) {

		// apply transform from key frame to current frame
		SePointOps_F64.transform(keyToCurr, sample.p1, curr2D);

		// Euclidean pixel error squared error
		double dx = curr2D.x - sample.p2.x;
		double dy = curr2D.y - sample.p2.y;

		return dx*dx + dy*dy;
	}

	@Override
	public void computeDistance(List samples, double[] distance) {
		for( int i = 0; i < samples.size(); i++ ) {
			distance[i] = computeDistance(samples.get(i));
		}
	}
}