public class LowLevelMultiViewOps
extends java.lang.Object
| Constructor and Description |
|---|
LowLevelMultiViewOps() |
| Modifier and Type | Method and Description |
|---|---|
static void |
applyPixelNormalization(org.ejml.data.DenseMatrix64F N,
georegression.struct.point.Point2D_F64 orig,
georegression.struct.point.Point2D_F64 normed)
Given the normalization matrix computed from
computeNormalization(java.util.List, org.ejml.data.DenseMatrix64F)
normalize the point. |
static void |
computeNormalization(java.util.List<AssociatedPair> points,
org.ejml.data.DenseMatrix64F N1,
org.ejml.data.DenseMatrix64F N2)
Computes two normalization matrices for each set of point correspondences in the list of
AssociatedPair. |
static void |
computeNormalization(java.util.List<AssociatedTriple> points,
org.ejml.data.DenseMatrix64F N1,
org.ejml.data.DenseMatrix64F N2,
org.ejml.data.DenseMatrix64F N3)
Computes three normalization matrices for each set of point correspondences in the list of
AssociatedTriple. |
static void |
computeNormalization(java.util.List<georegression.struct.point.Point2D_F64> points,
org.ejml.data.DenseMatrix64F N)
Computes a normalization matrix used to reduce numerical errors inside of linear estimation algorithms.
|
public static void computeNormalization(java.util.List<georegression.struct.point.Point2D_F64> points,
org.ejml.data.DenseMatrix64F N)
Computes a normalization matrix used to reduce numerical errors inside of linear estimation algorithms. Pixels coordinates are poorly scaled for linear algebra operations resulting in excessive numerical error. This function computes a transform which will minimize numerical error by properly scaling the pixels.
N = [ 1/σ_x 0 -μ_x/σ_x ]
[ 0 1/σ_y 0 -μ_y/σ_y ]
[ 0 0 1 ]
Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry, "An Invitation to 3-D Vision" Springer-Verlad, 2004
points - Input: List of observed points. Not modified.N - Output: 3x3 normalization matrix for first set of points. Modified.public static void computeNormalization(java.util.List<AssociatedPair> points, org.ejml.data.DenseMatrix64F N1, org.ejml.data.DenseMatrix64F N2)
Computes two normalization matrices for each set of point correspondences in the list of
AssociatedPair. Same as computeNormalization(java.util.List, org.ejml.data.DenseMatrix64F),
but for two views.
points - Input: List of observed points that are to be normalized. Not modified.N1 - Output: 3x3 normalization matrix for first set of points. Modified.N2 - Output: 3x3 normalization matrix for second set of points. Modified.public static void computeNormalization(java.util.List<AssociatedTriple> points, org.ejml.data.DenseMatrix64F N1, org.ejml.data.DenseMatrix64F N2, org.ejml.data.DenseMatrix64F N3)
Computes three normalization matrices for each set of point correspondences in the list of
AssociatedTriple. Same as computeNormalization(java.util.List, org.ejml.data.DenseMatrix64F),
but for three views.
points - Input: List of observed points that are to be normalized. Not modified.N1 - Output: 3x3 normalization matrix for first set of points. Modified.N2 - Output: 3x3 normalization matrix for second set of points. Modified.N3 - Output: 3x3 normalization matrix for third set of points. Modified.public static void applyPixelNormalization(org.ejml.data.DenseMatrix64F N,
georegression.struct.point.Point2D_F64 orig,
georegression.struct.point.Point2D_F64 normed)
computeNormalization(java.util.List, org.ejml.data.DenseMatrix64F)
normalize the point.N - Normalization matrix.orig - Unnormalized coordinate in pixels.normed - Normalized coordinate.