Examples with Se3FromEssentialGenerator boofcv.alg.geo.robust.Se3FromEssentialGenerator used on opensource projects

Example 1 with Se3FromEssentialGenerator

use of boofcv.alg.geo.robust.Se3FromEssentialGenerator 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);
}

Example 2 with Se3FromEssentialGenerator

use of boofcv.alg.geo.robust.Se3FromEssentialGenerator 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;
}