75 lines
1.7 KiB
Rust
75 lines
1.7 KiB
Rust
use crate::transformer::Transformers;
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use crate::point::Point;
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use crate::worldstate::{WorldState,EDH};
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use serde::{Serialize,Deserialize};
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use log::debug;
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use nalgebra::Matrix1x3;
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/// Homography
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#[derive(Serialize,Deserialize,Debug,Clone,Copy)]
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pub struct Homography {}
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impl Transformers for Homography {
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fn apply(&self, point_list: &[Point], ws: &WorldState) -> Vec<Point> {
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let edh : &EDH = &ws.edh;
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point_list.iter()
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.map(| point | {
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let p = Matrix1x3::new(point.x, point.y, 1.0);
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let p = p * edh.matrix;
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let new_p = Point { x: p[0] / p[2], y: p[1] / p[2], ..*point };
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debug!("{:?} => {:?}", point, new_p);
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new_p
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})
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.collect()
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn test_homography_identity() {
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let p0 = Point { x: -1500.0, y: 1500.0, ..Point::default() };
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let edh = EDH::new(vec![
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vec![ 1.0, 0.0, 0.0 ],
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vec![ 0.0, 1.0, 0.0 ],
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vec![ 0.0, 0.0, 1.0 ]
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]).unwrap();
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let ws = WorldState { edh : edh, ..WorldState::default() };
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let homography = Homography{};
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let result = homography.apply(&[p0], &ws);
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assert_eq!(result, vec![Point { x: -1500.0,
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y: 1500.0,
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..Point::default() }]);
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}
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#[test]
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fn test_homography_rotation() {
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let p0 = Point { x: -1500.0, y: 1500.0, ..Point::default() };
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let edh = EDH::new(vec![
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vec![ 1.24107321e-03, 1.00500127e-03, 7.15439347e-01],
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vec![-9.93223912e-04, 1.22652939e-03,-6.98671238e-01],
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vec![ 1.06017142e-17,-4.69459541e-17, 3.32700590e-05]
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]).unwrap();
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let ws = WorldState { edh : edh, ..WorldState::default() };
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let homography = Homography{};
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let result = homography.apply(&[p0], &ws);
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assert_eq!(result, vec![Point { x: 10860.557,
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y: 79078.87,
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..Point::default() }]);
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}
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}
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