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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.5

/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo.robust;

import boofcv.alg.geo.MultiViewOps;
import boofcv.alg.geo.f.EpipolarMinimizeGeometricError;
import boofcv.struct.geo.AssociatedPair;
import org.ddogleg.fitting.modelset.DistanceFromModel;
import org.ejml.data.DMatrixRMaj;

import java.util.List;

/**
 * Computes geometric error in an uncalibrated stereo pair. This error is equivalent to
 * computing the optimal 3D triangulation, reprojecting the point, and computing the symmetric error.
 *
 * @author Peter Abeles
 * @see EpipolarMinimizeGeometricError
 */
@SuppressWarnings({"NullAway.Init"})
public class DistanceFundamentalGeometric implements DistanceFromModel {

	EpipolarMinimizeGeometricError adjuster = new EpipolarMinimizeGeometricError();
	AssociatedPair adjusted = new AssociatedPair();

	DMatrixRMaj F21;

	@Override
	public void setModel( DMatrixRMaj model ) {
		this.F21 = model;
	}

	@Override
	public double distance( AssociatedPair original ) {
		if (!adjuster.process(F21, original.p1.x, original.p1.y, original.p2.x, original.p2.y,
				adjusted.p1, adjusted.p2)) {
			// Not the same error, but better than nothing?
			// This is an algebraic error and maybe the correct way to do it is to compute a more stable geometric
			// error or even better root cause why this is failing.
			return 2.0*Math.abs(MultiViewOps.constraint(F21, original.p1, original.p2));
		}

		// Since the adjusted observations will intersect perfectly there's no need to triangulate
		// then reproject. This was verified empirically.
		return original.p1.distance2(adjusted.p1) + original.p2.distance2(adjusted.p2);
	}

	@Override
	public void distances( List associatedPairs, double[] distance ) {
		for (int i = 0; i < associatedPairs.size(); i++) {
			distance[i] = distance(associatedPairs.get(i));
		}
	}

	@Override public Class getPointType() {return AssociatedPair.class;}

	@Override public Class getModelType() {return DMatrixRMaj.class;}
}