public double Cost(Image <Arthmetic, double> F, double fx, double fy, double px, double py, double w, double h)
{
Image <Arthmetic, double> E = ComputeMatrix.E(F, ComputeMatrix.K(fx, fy, px, py));
Svd svd = new Svd(E);
double s1 = svd.S[0, 0];
double s2 = svd.S[1, 0];
double errS = s2 == 0 ? 1.0 : (s1 - s2) / s2;
return(errS);
}
public static double Cost(List <Image <Arthmetic, double> > Fs, double fx, double fy, double px, double py, double w, double h)
{
double errS = 0;
foreach (var F in Fs)
{
Image <Arthmetic, double> E = ComputeMatrix.E(F, ComputeMatrix.K(fx, fy, px, py));
Svd svd = new Svd(E);
double s1 = svd.S[0, 0];
double s2 = svd.S[1, 0];
errS += s2 == 0 ? 1 : (s1 - s2) / s2;
}
return(errS);
}
public static Image <Arthmetic, double> K(List <Image <Arthmetic, double> > Fs, double width, double height)
{
double fi = (width + height) / 2;
var minimizer = new BfgsMinimizer(1e-6, 1e-6, 1e-6);
var result = minimizer.FindMinimum(
new ObjFunc()
{
Fs = Fs, Width = width, Height = height
},
new DenseVector(new double[] { fi, fi, width / 2, height / 2 })
);
var p = result.MinimizingPoint;
return(ComputeMatrix.K(p[0], p[1], p[2], p[3]));
}
