diff options
Diffstat (limited to 'intern/libmv/libmv/multiview/homography_error.h')
| -rw-r--r-- | intern/libmv/libmv/multiview/homography_error.h | 120 |
1 files changed, 58 insertions, 62 deletions
diff --git a/intern/libmv/libmv/multiview/homography_error.h b/intern/libmv/libmv/multiview/homography_error.h index f8b9d45e73c..786ca245ea6 100644 --- a/intern/libmv/libmv/multiview/homography_error.h +++ b/intern/libmv/libmv/multiview/homography_error.h @@ -27,18 +27,18 @@ namespace libmv { namespace homography { namespace homography2D { - /** - * Structure for estimating the asymmetric error between a vector x2 and the - * transformed x1 such that - * Error = ||x2 - Psi(H * x1)||^2 - * where Psi is the function that transforms homogeneous to euclidean coords. - * \note It should be distributed as Chi-squared with k = 2. - */ +/** + * Structure for estimating the asymmetric error between a vector x2 and the + * transformed x1 such that + * Error = ||x2 - Psi(H * x1)||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * \note It should be distributed as Chi-squared with k = 2. + */ struct AsymmetricError { /** - * Computes the asymmetric residuals between a set of 2D points x2 and the + * Computes the asymmetric residuals between a set of 2D points x2 and the * transformed 2D point set x1 such that - * Residuals_i = x2_i - Psi(H * x1_i) + * Residuals_i = x2_i - Psi(H * x1_i) * where Psi is the function that transforms homogeneous to euclidean coords. * * \param[in] H The 3x3 homography matrix. @@ -47,8 +47,7 @@ struct AsymmetricError { * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). * \param[out] dx A 2xN matrix of column vectors of residuals errors */ - static void Residuals(const Mat &H, const Mat &x1, - const Mat &x2, Mat2X *dx) { + static void Residuals(const Mat& H, const Mat& x1, const Mat& x2, Mat2X* dx) { dx->resize(2, x1.cols()); Mat3X x2h_est; if (x1.rows() == 2) @@ -63,19 +62,18 @@ struct AsymmetricError { *dx = HomogeneousToEuclidean(static_cast<Mat3X>(x2)) - *dx; } /** - * Computes the asymmetric residuals between a 2D point x2 and the transformed + * Computes the asymmetric residuals between a 2D point x2 and the transformed * 2D point x1 such that - * Residuals = x2 - Psi(H * x1) + * Residuals = x2 - Psi(H * x1) * where Psi is the function that transforms homogeneous to euclidean coords. * * \param[in] H The 3x3 homography matrix. * The estimated homography should approximatelly hold the condition y = H x. - * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) - * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) * \param[out] dx A vector of size 2 of the residual error */ - static void Residuals(const Mat &H, const Vec &x1, - const Vec &x2, Vec2 *dx) { + static void Residuals(const Mat& H, const Vec& x1, const Vec& x2, Vec2* dx) { Vec3 x2h_est; if (x1.rows() == 2) x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1)); @@ -85,10 +83,10 @@ struct AsymmetricError { *dx = x2 - x2h_est.head<2>() / x2h_est[2]; else *dx = HomogeneousToEuclidean(static_cast<Vec3>(x2)) - - x2h_est.head<2>() / x2h_est[2]; + x2h_est.head<2>() / x2h_est[2]; } /** - * Computes the squared norm of the residuals between a set of 2D points x2 + * Computes the squared norm of the residuals between a set of 2D points x2 * and the transformed 2D point set x1 such that * Error = || x2 - Psi(H * x1) ||^2 * where Psi is the function that transforms homogeneous to euclidean coords. @@ -99,70 +97,70 @@ struct AsymmetricError { * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). * \return The squared norm of the asymmetric residuals errors */ - static double Error(const Mat &H, const Mat &x1, const Mat &x2) { + static double Error(const Mat& H, const Mat& x1, const Mat& x2) { Mat2X dx; Residuals(H, x1, x2, &dx); return dx.squaredNorm(); } /** - * Computes the squared norm of the residuals between a 2D point x2 and the - * transformed 2D point x1 such that rms = || x2 - Psi(H * x1) ||^2 + * Computes the squared norm of the residuals between a 2D point x2 and the + * transformed 2D point x1 such that rms = || x2 - Psi(H * x1) ||^2 * where Psi is the function that transforms homogeneous to euclidean coords. * * \param[in] H The 3x3 homography matrix. * The estimated homography should approximatelly hold the condition y = H x. - * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) - * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) * \return The squared norm of the asymmetric residual error */ - static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + static double Error(const Mat& H, const Vec& x1, const Vec& x2) { Vec2 dx; Residuals(H, x1, x2, &dx); return dx.squaredNorm(); } }; - /** - * Structure for estimating the symmetric error - * between a vector x2 and the transformed x1 such that - * Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2 - * where Psi is the function that transforms homogeneous to euclidean coords. - * \note It should be distributed as Chi-squared with k = 4. - */ +/** + * Structure for estimating the symmetric error + * between a vector x2 and the transformed x1 such that + * Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2 + * where Psi is the function that transforms homogeneous to euclidean coords. + * \note It should be distributed as Chi-squared with k = 4. + */ struct SymmetricError { /** - * Computes the squared norm of the residuals between x2 and the - * transformed x1 such that + * Computes the squared norm of the residuals between x2 and the + * transformed x1 such that * Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2 * where Psi is the function that transforms homogeneous to euclidean coords. * * \param[in] H The 3x3 homography matrix. * The estimated homography should approximatelly hold the condition y = H x. - * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) - * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) * \return The squared norm of the symmetric residuals errors */ - static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + static double Error(const Mat& H, const Vec& x1, const Vec& x2) { // TODO(keir): This is awesomely inefficient because it does a 3x3 // inversion for each evaluation. Mat3 Hinv = H.inverse(); - return AsymmetricError::Error(H, x1, x2) + + return AsymmetricError::Error(H, x1, x2) + AsymmetricError::Error(Hinv, x2, x1); } // TODO(julien) Add residuals function \see AsymmetricError }; - /** - * Structure for estimating the algebraic error (cross product) - * between a vector x2 and the transformed x1 such that - * Error = ||[x2] * H * x1||^^2 - * where [x2] is the skew matrix of x2. - */ +/** + * Structure for estimating the algebraic error (cross product) + * between a vector x2 and the transformed x1 such that + * Error = ||[x2] * H * x1||^^2 + * where [x2] is the skew matrix of x2. + */ struct AlgebraicError { // TODO(julien) Make an AlgebraicError2Rows and AlgebraicError3Rows /** - * Computes the algebraic residuals (cross product) between a set of 2D - * points x2 and the transformed 2D point set x1 such that + * Computes the algebraic residuals (cross product) between a set of 2D + * points x2 and the transformed 2D point set x1 such that * [x2] * H * x1 where [x2] is the skew matrix of x2. * * \param[in] H The 3x3 homography matrix. @@ -171,8 +169,7 @@ struct AlgebraicError { * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). * \param[out] dx A 3xN matrix of column vectors of residuals errors */ - static void Residuals(const Mat &H, const Mat &x1, - const Mat &x2, Mat3X *dx) { + static void Residuals(const Mat& H, const Mat& x1, const Mat& x2, Mat3X* dx) { dx->resize(3, x1.cols()); Vec3 col; for (int i = 0; i < x1.cols(); ++i) { @@ -181,18 +178,17 @@ struct AlgebraicError { } } /** - * Computes the algebraic residuals (cross product) between a 2D point x2 - * and the transformed 2D point x1 such that + * Computes the algebraic residuals (cross product) between a 2D point x2 + * and the transformed 2D point x1 such that * [x2] * H * x1 where [x2] is the skew matrix of x2. * * \param[in] H The 3x3 homography matrix. * The estimated homography should approximatelly hold the condition y = H x. - * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) - * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) * \param[out] dx A vector of size 3 of the residual error */ - static void Residuals(const Mat &H, const Vec &x1, - const Vec &x2, Vec3 *dx) { + static void Residuals(const Mat& H, const Vec& x1, const Vec& x2, Vec3* dx) { Vec3 x2h_est; if (x1.rows() == 2) x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1)); @@ -206,8 +202,8 @@ struct AlgebraicError { // identical 3x3 skew matrix for each evaluation. } /** - * Computes the squared norm of the algebraic residuals between a set of 2D - * points x2 and the transformed 2D point set x1 such that + * Computes the squared norm of the algebraic residuals between a set of 2D + * points x2 and the transformed 2D point set x1 such that * [x2] * H * x1 where [x2] is the skew matrix of x2. * * \param[in] H The 3x3 homography matrix. @@ -216,23 +212,23 @@ struct AlgebraicError { * \param[in] x2 A set of 2D points (2xN or 3xN matrix of column vectors). * \return The squared norm of the asymmetric residuals errors */ - static double Error(const Mat &H, const Mat &x1, const Mat &x2) { + static double Error(const Mat& H, const Mat& x1, const Mat& x2) { Mat3X dx; Residuals(H, x1, x2, &dx); return dx.squaredNorm(); } /** - * Computes the squared norm of the algebraic residuals between a 2D point x2 - * and the transformed 2D point x1 such that + * Computes the squared norm of the algebraic residuals between a 2D point x2 + * and the transformed 2D point x1 such that * [x2] * H * x1 where [x2] is the skew matrix of x2. * * \param[in] H The 3x3 homography matrix. * The estimated homography should approximatelly hold the condition y = H x. - * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) - * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) + * \param[in] x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) * \return The squared norm of the asymmetric residual error */ - static double Error(const Mat &H, const Vec &x1, const Vec &x2) { + static double Error(const Mat& H, const Vec& x1, const Vec& x2) { Vec3 dx; Residuals(H, x1, x2, &dx); return dx.squaredNorm(); |