generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add sampson distance error measure

Browse Source 
the first order approximation of the geometric error
This commit is contained in:
Pavel Rojtberg
2015-09-04 16:16:39 +02:00
parent c4edd86aeb
commit 16fcd78f03
2 changed files with 31 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
modules/calib3d/src/fundam.cpp
View File

@@ -1039,4 +1039,24 @@ void cv::convertPointsHomogeneous( InputArray _src, OutputArray _dst )
convertPointsToHomogeneous(_src, _dst);
}
double cv::sampsonDistance(InputArray _pt1, InputArray _pt2, InputArray _F) {
CV_Assert(_pt1.type() == CV_64F && _pt1.type() == CV_64F && _F.type() == CV_64F);
CV_DbgAssert(_pt1.rows() == 3 && _F.size() == Size(3, 3) && _pt1.rows() == _pt2.rows());
Mat pt1(_pt1.getMat());
Mat pt2(_pt2.getMat());
Mat F(_F.getMat());
Vec3d F_pt1 = *F.ptr<Matx33d>() * *pt1.ptr<Vec3d>();
Vec3d Ft_pt2 = F.ptr<Matx33d>()->t() * *pt2.ptr<Vec3d>();
double v = pt2.ptr<Vec3d>()->dot(F_pt1);
// square
Ft_pt2 = Ft_pt2.mul(Ft_pt2);
F_pt1 = F_pt1.mul(F_pt1);
return v*v / (F_pt1[0] + F_pt1[1] + Ft_pt2[0] + Ft_pt2[1]);
}
/* End of file. */