Package boofcv.alg.geo

Class NormalizationPoint2D

java.lang.Object

boofcv.alg.geo.NormalizationPoint2D

public class NormalizationPoint2D
extends Object

Describes how to normalize a set of points such that they have zero mean and variance. This is equivalent to applying the matrix below. Normalization is often needed as a preprocessing step for solving linear equations. Greatly reduces bias and numerical errors.

 N = [ 1/σ_x     0      -μ_x/σ_x ]
     [    0   1/σ_y 0   -μ_y/σ_y ]
     [    0      0          1    ]
 

Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry, "An Invitation to 3-D Vision" Springer-Verlad, 2004

Field Summary

Fields

Modifier and Type	Field	Description
double	meanX
double	meanY
double	stdX
double	stdY

Constructor Summary

Constructors

Constructor	Description
NormalizationPoint2D()
NormalizationPoint2D(double meanX, double stdX, double meanY, double stdY)

Method Summary

Modifier and Type	Method	Description
void	apply(ConicGeneral_F64 p, ConicGeneral_F64 output)	C* = H'*C*H
void	apply(Point2D_F64 p, Point2D_F64 output)
void	apply(Point3D_F64 p, Point3D_F64 output)
void	apply(DMatrix3x3 C, DMatrix3x3 output)	Apply transform to conic in 3x3 matrix format.
void	apply(DMatrixRMaj H, DMatrixRMaj output)	Applies normalization to a H=3xN matrix out = Norm*H
boolean	isEquals(NormalizationPoint2D a, double tol)
DMatrixRMaj	matrix(@Nullable DMatrixRMaj M)
DMatrix3x3	matrix3(@Nullable DMatrix3x3 M)
DMatrixRMaj	matrixInv(@Nullable DMatrixRMaj M)
DMatrix3x3	matrixInv3(DMatrix3x3 M)
void	remove(ConicGeneral_F64 p, ConicGeneral_F64 output)
void	remove(Point2D_F64 p, Point2D_F64 output)
void	remove(Point3D_F64 p, Point3D_F64 output)
void	remove(DMatrix3x3 C, DMatrix3x3 output)
void	remove(DMatrixRMaj H, DMatrixRMaj output)	Applies normalization to a H=3xN matrix out = Norm*H
void	set(double meanX, double stdX, double meanY, double stdY)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

meanX

public double meanX

stdX

public double stdX

meanY

public double meanY

stdY

public double stdY

Constructor Details

NormalizationPoint2D

public NormalizationPoint2D()

NormalizationPoint2D

public NormalizationPoint2D(double meanX,
 double stdX,
 double meanY,
 double stdY)

Method Details

set

public void set(double meanX,
 double stdX,
 double meanY,
 double stdY)

apply

public void apply(DMatrixRMaj H,
 DMatrixRMaj output)

Applies normalization to a H=3xN matrix out = Norm*H

Parameters:

H - 3xN matrix. Can be same as input matrix

remove

public void remove(DMatrixRMaj H,
 DMatrixRMaj output)

Applies normalization to a H=3xN matrix out = Norm*H

Parameters:

H - 3xN matrix. Can be same as input matrix

apply

public void apply(Point2D_F64 p,
 Point2D_F64 output)

apply

public void apply(Point3D_F64 p,
 Point3D_F64 output)

apply

public void apply(ConicGeneral_F64 p,
 ConicGeneral_F64 output)

C* = H'*C*H

apply

public void apply(DMatrix3x3 C,
 DMatrix3x3 output)

Apply transform to conic in 3x3 matrix format.

remove

public void remove(Point2D_F64 p,
 Point2D_F64 output)

remove

public void remove(Point3D_F64 p,
 Point3D_F64 output)

remove

public void remove(ConicGeneral_F64 p,
 ConicGeneral_F64 output)

remove

public void remove(DMatrix3x3 C,
 DMatrix3x3 output)

matrix

public DMatrixRMaj matrix(@Nullable
 @Nullable DMatrixRMaj M)

matrixInv

public DMatrixRMaj matrixInv(@Nullable
 @Nullable DMatrixRMaj M)

matrix3

public DMatrix3x3 matrix3(@Nullable
 @Nullable DMatrix3x3 M)

matrixInv3

public DMatrix3x3 matrixInv3(DMatrix3x3 M)

isEquals

public boolean isEquals(NormalizationPoint2D a,
 double tol)