Examples with AssociatedPair boofcv.struct.geo.AssociatedPair used on opensource projects

Example 46 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class HomographyDirectLinearTransform method createA.

/**
 * Compute the 'A' matrix used to solve for H from un-normalized points.
 */
protected void createA(List<AssociatedPair> points, DMatrixRMaj A) {
    A.reshape(points.size() * 2, 9, false);
    A.zero();
    final int size = points.size();
    for (int i = 0; i < size; i++) {
        AssociatedPair p = points.get(i);
        // the first image
        Point2D_F64 f = p.p1;
        // the second image
        Point2D_F64 s = p.p2;
        A.set(i * 2, 3, -f.x);
        A.set(i * 2, 4, -f.y);
        A.set(i * 2, 5, -1);
        A.set(i * 2, 6, s.y * f.x);
        A.set(i * 2, 7, s.y * f.y);
        A.set(i * 2, 8, s.y);
        A.set(i * 2 + 1, 0, f.x);
        A.set(i * 2 + 1, 1, f.y);
        A.set(i * 2 + 1, 2, 1);
        A.set(i * 2 + 1, 6, -s.x * f.x);
        A.set(i * 2 + 1, 7, -s.x * f.y);
        A.set(i * 2 + 1, 8, -s.x);
    }
}

Example 47 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestImageMotionPtkSmartRespawn method createPair.

private AssociatedPair createPair(int x, int y) {
    AssociatedPair p = new AssociatedPairTrack();
    p.p1.set(x, y);
    p.p2.set(x, y);
    return p;
}

Example 48 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestDistanceScaleTranslate2DSq method apply.

public static AssociatedPair apply(double x, double y, ScaleTranslate2D model) {
    AssociatedPair p = new AssociatedPair();
    p.p1.set(x, y);
    p.p2.x = x * model.scale + model.transX;
    p.p2.y = y * model.scale + model.transY;
    return p;
}

Example 49 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestDistanceScaleTranslate2DSq method multiple.

@Test
public void multiple() {
    ScaleTranslate2D model = new ScaleTranslate2D(1.5, -2, 3);
    AssociatedPair a = apply(-5, 4, model);
    a.p2.x += 3.5;
    AssociatedPair b = apply(2.15, 2, model);
    List<AssociatedPair> obs = new ArrayList<>();
    obs.add(a);
    obs.add(b);
    DistanceScaleTranslate2DSq alg = new DistanceScaleTranslate2DSq();
    alg.setModel(model);
    double[] found = new double[2];
    alg.computeDistance(obs, found);
    assertEquals(3.5 * 3.5, found[0], 1e-8);
    assertEquals(0, found[1], 1e-8);
}

Example 50 with AssociatedPair

use of boofcv.struct.geo.AssociatedPair in project BoofCV by lessthanoptimal.

the class TestDistanceScaleTranslateRotate2DSq method noisy.

@Test
public void noisy() {
    ScaleTranslateRotate2D model = new ScaleTranslateRotate2D(0.2, 1.5, -2, 3);
    AssociatedPair a = apply(-5, 4, model);
    a.p2.x += 3.5;
    DistanceScaleTranslateRotate2DSq alg = new DistanceScaleTranslateRotate2DSq();
    alg.setModel(model);
    assertEquals(3.5 * 3.5, alg.computeDistance(a), 1e-8);
}