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This commit is contained in:
Marc Planard 2023-07-01 17:42:31 +02:00
parent 1d61235e51
commit 2b0a2ce06d
3 changed files with 14 additions and 14 deletions
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12
src/transformer/homography.rs
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@ -2,8 +2,6 @@ use crate::transformer::Transformers;
use crate::point::Point;
use crate::worldstate::{WorldState,EDH};
use serde::{Serialize,Deserialize};
use log::debug;
use nalgebra::Matrix1x3;
/// Homography
@ -15,15 +13,7 @@ impl Transformers for Homography {
let edh : &EDH = &ws.edh;
point_list.iter()
.map(| point | {
let p = Matrix1x3::new(point.x, point.y, 1.0);
let p = p * edh.matrix;
let new_p = Point { x: p[0] / p[2], y: p[1] / p[2], ..*point };
debug!("{:?} => {:?}", point, new_p);
new_p
})
.map(| point | edh.apply(point))
.collect()
}
}