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Merge pull request #5309 from paroj:sampsonDist

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This commit is contained in:
Vadim Pisarevsky 2015-12-10 07:08:18 +00:00
commit 3c8bd19e56
2 changed files with 31 additions and 0 deletions
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11
modules/calib3d/include/opencv2/calib3d.hpp
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@ -1403,6 +1403,17 @@ CV_EXPORTS_W void reprojectImageTo3D( InputArray disparity,
bool handleMissingValues = false,
int ddepth = -1 );
/** @brief Calculates the Sampson Distance between two points.
The function sampsonDistance calculates and returns the first order approximation of the geometric error as:
\f[sd( \texttt{pt1} , \texttt{pt2} )= \frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}{(\texttt{F} \cdot \texttt{pt1})(0) + (\texttt{F} \cdot \texttt{pt1})(1) + (\texttt{F}^t \cdot \texttt{pt2})(0) + (\texttt{F}^t \cdot \texttt{pt2})(1)}\f]
The fundamental matrix may be calculated using the cv::findFundamentalMat function. See HZ 11.4.3 for details.
@param pt1 first homogeneous 2d point
@param pt2 second homogeneous 2d point
@param F fundamental matrix
*/
CV_EXPORTS_W double sampsonDistance(InputArray pt1, InputArray pt2, InputArray F);
/** @brief Computes an optimal affine transformation between two 3D point sets.
@param src First input 3D point set.

20
modules/calib3d/src/fundam.cpp
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@ -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. */