| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
| // | |
| // * Redistributions of source code must retain the above copyright | |
| // notice, this list of conditions and the following disclaimer. | |
| // | |
| // * Redistributions in binary form must reproduce the above copyright | |
| // notice, this list of conditions and the following disclaimer in the | |
| // documentation and/or other materials provided with the distribution. | |
| // | |
| // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of | |
| // its contributors may be used to endorse or promote products derived | |
| // from this software without specific prior written permission. | |
| // | |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE | |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Center and normalize image points. | |
| // | |
| // The points are transformed in a two-step procedure that is expressed | |
| // as a transformation matrix. The matrix of the resulting points is usually | |
| // better conditioned than the matrix of the original points. | |
| // | |
| // Center the image points, such that the new coordinate system has its | |
| // origin at the centroid of the image points. | |
| // | |
| // Normalize the image points, such that the mean distance from the points | |
| // to the coordinate system is sqrt(2). | |
| // | |
| // @param points Image coordinates. | |
| // @param normed_points Transformed image coordinates. | |
| // @param matrix 3x3 transformation matrix. | |
| void CenterAndNormalizeImagePoints(const std::vector<Eigen::Vector2d>& points, | |
| std::vector<Eigen::Vector2d>* normed_points, | |
| Eigen::Matrix3d* matrix); | |
| // Calculate the residuals of a set of corresponding points and a given | |
| // fundamental or essential matrix. | |
| // | |
| // Residuals are defined as the squared Sampson error. | |
| // | |
| // @param points1 First set of corresponding points as Nx2 matrix. | |
| // @param points2 Second set of corresponding points as Nx2 matrix. | |
| // @param E 3x3 fundamental or essential matrix. | |
| // @param residuals Output vector of residuals. | |
| void ComputeSquaredSampsonError(const std::vector<Eigen::Vector2d>& points1, | |
| const std::vector<Eigen::Vector2d>& points2, | |
| const Eigen::Matrix3d& E, | |
| std::vector<double>* residuals); | |
| // Calculate the squared reprojection error given a set of 2D-3D point | |
| // correspondences and a projection matrix. Returns DBL_MAX if a 3D point is | |
| // behind the given camera. | |
| // | |
| // @param points2D Normalized 2D image points. | |
| // @param points3D 3D world points. | |
| // @param proj_matrix 3x4 projection matrix. | |
| // @param residuals Output vector of residuals. | |
| void ComputeSquaredReprojectionError( | |
| const std::vector<Eigen::Vector2d>& points2D, | |
| const std::vector<Eigen::Vector3d>& points3D, | |
| const Eigen::Matrix3x4d& proj_matrix, std::vector<double>* residuals); | |
| } // namespace colmap | |