/**
* Computes the mean/average of two points.
*
* @param a (input) Point A
* @param b (input) Point B
* @param mean (output) average of 'a' and 'b'
*/
public static Point2D_F32 mean(Point2D_F32 a, Point2D_F32 b, Point2D_F32 mean) {
if (mean == null) mean = new Point2D_F32();
mean.x = (a.x + b.x) / 2.0f;
mean.y = (a.y + b.y) / 2.0f;
return mean;
}
public static List<Point2D_F32> copy(List<Point2D_F32> pts) {
List<Point2D_F32> ret = new ArrayList<Point2D_F32>();
for (Point2D_F32 p : pts) {
ret.add(p.copy());
}
return ret;
}
public static List<Point2D_F32> random(float min, float max, int num, Random rand) {
List<Point2D_F32> ret = new ArrayList<Point2D_F32>();
float d = max - min;
for (int i = 0; i < num; i++) {
Point2D_F32 p = new Point2D_F32();
p.x = rand.nextFloat() * d + min;
p.y = rand.nextFloat() * d + min;
ret.add(p);
}
return ret;
}
/**
* Finds the point which has the mean location of all the points in the list. This is also known
* as the centroid.
*
* @param list List of points
* @param mean Storage for mean point. If null then a new instance will be declared
* @return The found mean
*/
public static Point2D_F32 mean(List<Point2D_F32> list, Point2D_F32 mean) {
if (mean == null) mean = new Point2D_F32();
float x = 0;
float y = 0;
for (Point2D_F32 p : list) {
x += p.getX();
y += p.getY();
}
x /= list.size();
y /= list.size();
mean.set(x, y);
return mean;
}
public static void drawNumbers(
Graphics2D g2,
CalibrationObservation foundTarget,
PointTransform_F32 transform,
double scale) {
Font regular = new Font("Serif", Font.PLAIN, 16);
g2.setFont(regular);
Point2D_F32 adj = new Point2D_F32();
AffineTransform origTran = g2.getTransform();
for (int i = 0; i < foundTarget.size(); i++) {
Point2D_F64 p = foundTarget.observations.get(i);
int gridIndex = foundTarget.indexes.get(i);
if (transform != null) {
transform.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
String text = String.format("%2d", gridIndex);
int x = (int) (adj.x * scale);
int y = (int) (adj.y * scale);
g2.setColor(Color.BLACK);
g2.drawString(text, x - 1, y);
g2.drawString(text, x + 1, y);
g2.drawString(text, x, y - 1);
g2.drawString(text, x, y + 1);
g2.setTransform(origTran);
g2.setColor(Color.GREEN);
g2.drawString(text, x, y);
}
}
private void drawFeatures(Graphics2D g2, double scale) {
g2.setRenderingHint(RenderingHints.KEY_STROKE_CONTROL, RenderingHints.VALUE_STROKE_PURE);
g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
CalibrationObservation set = features.get(selectedImage);
Point2D_F32 adj = new Point2D_F32();
if (showPoints) {
g2.setColor(Color.BLACK);
g2.setStroke(new BasicStroke(3));
for (Point2D_F64 p : set.observations) {
if (showUndistorted) {
remove_p_to_p.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
VisualizeFeatures.drawCross(g2, adj.x * scale, adj.y * scale, 4);
}
g2.setStroke(new BasicStroke(1));
g2.setColor(Color.RED);
for (Point2D_F64 p : set.observations) {
if (showUndistorted) {
remove_p_to_p.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
VisualizeFeatures.drawCross(g2, adj.x * scale, adj.y * scale, 4);
}
}
if (showAll) {
for (CalibrationObservation l : features) {
for (Point2D_F64 p : l.observations) {
if (showUndistorted) {
remove_p_to_p.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
VisualizeFeatures.drawPoint(g2, adj.x * scale, adj.y * scale, 2, Color.BLUE, false);
}
}
}
if (showNumbers) {
if (showUndistorted) drawNumbers(g2, set, remove_p_to_p, scale);
else drawNumbers(g2, set, null, scale);
}
if (showErrors && results != null && results.size() > selectedImage) {
ImageResults result = results.get(selectedImage);
Stroke before = g2.getStroke();
g2.setStroke(new BasicStroke(4));
g2.setColor(Color.BLACK);
for (int i = 0; i < set.size(); i++) {
Point2D_F64 p = set.observations.get(i);
if (showUndistorted) {
remove_p_to_p.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
double r = errorScale * result.pointError[i];
if (r < 1) continue;
VisualizeFeatures.drawCircle(g2, adj.x * scale, adj.y * scale, r);
}
g2.setStroke(before);
g2.setColor(Color.ORANGE);
for (int i = 0; i < set.size(); i++) {
Point2D_F64 p = set.observations.get(i);
if (showUndistorted) {
remove_p_to_p.compute((float) p.x, (float) p.y, adj);
} else {
adj.set((float) p.x, (float) p.y);
}
double r = errorScale * result.pointError[i];
if (r < 1) continue;
VisualizeFeatures.drawCircle(g2, adj.x * scale, adj.y * scale, r);
}
}
}
public static void noiseNormal(List<Point2D_F32> pts, float sigma, Random rand) {
for (Point2D_F32 p : pts) {
p.x += (float) rand.nextGaussian() * sigma;
p.y += (float) rand.nextGaussian() * sigma;
}
}
