use of boofcv.alg.geo.robust.DistanceSe3SymmetricSq in project BoofCV by lessthanoptimal.
the class FactoryMultiViewRobust method epipolarRansac.
private static Ransac<Se3_F64, AssociatedPair> epipolarRansac(Estimate1ofEpipolar epipolar, CameraPinholeRadial intrinsic, ConfigRansac ransac) {
TriangulateTwoViewsCalibrated triangulate = FactoryMultiView.triangulateTwoGeometric();
ModelManager<Se3_F64> manager = new ModelManagerSe3_F64();
ModelGenerator<Se3_F64, AssociatedPair> generateEpipolarMotion = new Se3FromEssentialGenerator(epipolar, triangulate);
DistanceFromModel<Se3_F64, AssociatedPair> distanceSe3 = new DistanceSe3SymmetricSq(triangulate, intrinsic.fx, intrinsic.fy, intrinsic.skew, intrinsic.fx, intrinsic.fy, intrinsic.skew);
double ransacTOL = ransac.inlierThreshold * ransac.inlierThreshold * 2.0;
return new Ransac<>(ransac.randSeed, manager, generateEpipolarMotion, distanceSe3, ransac.maxIterations, ransacTOL);
}
use of boofcv.alg.geo.robust.DistanceSe3SymmetricSq in project BoofCV by lessthanoptimal.
the class FactoryMultiViewRobust method epipolarLMedS.
private static LeastMedianOfSquares<Se3_F64, AssociatedPair> epipolarLMedS(Estimate1ofEpipolar epipolar, CameraPinholeRadial intrinsic, ConfigLMedS configLMedS) {
TriangulateTwoViewsCalibrated triangulate = FactoryMultiView.triangulateTwoGeometric();
ModelManager<Se3_F64> manager = new ModelManagerSe3_F64();
ModelGenerator<Se3_F64, AssociatedPair> generateEpipolarMotion = new Se3FromEssentialGenerator(epipolar, triangulate);
DistanceFromModel<Se3_F64, AssociatedPair> distanceSe3 = new DistanceSe3SymmetricSq(triangulate, intrinsic.fx, intrinsic.fy, intrinsic.skew, intrinsic.fx, intrinsic.fy, intrinsic.skew);
LeastMedianOfSquares<Se3_F64, AssociatedPair> config = new LeastMedianOfSquares<>(configLMedS.randSeed, configLMedS.totalCycles, manager, generateEpipolarMotion, distanceSe3);
config.setErrorFraction(configLMedS.errorFraction);
return config;
}
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