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fix homography calculation + test

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This commit is contained in:
Marc Planard 2023-07-01 17:14:01 +02:00
parent ee9e3f1da0
commit 3d53982e72
3 changed files with 62 additions and 15 deletions
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65
src/transformer/homography.rs
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@ -1,9 +1,10 @@
use crate::transformer::Transformers;
use crate::point::Point;
use crate::worldstate::WorldState;
use crate::worldstate::{WorldState,EDH};
use serde::{Serialize,Deserialize};
use log::info;
use nalgebra::Matrix3;
use nalgebra::Matrix1x3;
/// Homography
@ -12,25 +13,63 @@ pub struct Homography {}
impl Transformers for Homography {
fn apply(&self, point_list: &[Point], ws: &WorldState) -> Vec<Point> {
let m = ws.edh.matrix;
let edh : &EDH = &ws.edh;
point_list.iter()
.map(| point | {
// THIS IS CERTAINLY ALL WRONG! NEEDS DEBUGING!!!
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 };
let p = Matrix3::new(point.x, point.y, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, 1.0);
let dot = p.tr_dot(&m);
let new_p = Point { x: point.x / dot, y: point.y / dot,
..*point
};
info!("{:?} => {:?}", point, new_p);
dbg!("{:?} => {:?}", point, new_p);
new_p
})
.collect()
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test_homography_identity() {
let p0 = Point { x: -1500.0, y: 1500.0, ..Point::default() };
let edh = EDH::new(vec![
vec![ 1.0, 0.0, 0.0 ],
vec![ 0.0, 1.0, 0.0 ],
vec![ 0.0, 0.0, 1.0 ]
]).unwrap();
let ws = WorldState { edh : edh, ..WorldState::default() };
let homography = Homography{};
let result = homography.apply(&[p0], &ws);
assert_eq!(result, vec![Point { x: -1500.0,
y: 1500.0,
..Point::default() }]);
}
#[test]
fn test_homography_rotation() {
let p0 = Point { x: -1500.0, y: 1500.0, ..Point::default() };
let edh = EDH::new(vec![
vec![ 1.24107321e-03, 1.00500127e-03, 7.15439347e-01],
vec![-9.93223912e-04, 1.22652939e-03,-6.98671238e-01],
vec![ 1.06017142e-17,-4.69459541e-17, 3.32700590e-05]
]).unwrap();
let ws = WorldState { edh : edh, ..WorldState::default() };
let homography = Homography{};
let result = homography.apply(&[p0], &ws);
assert_eq!(result, vec![Point { x: 10860.557,
y: 79078.87,
..Point::default() }]);
}
}