private void ErrorOfKComputation_Click(object sender, RoutedEventArgs e)
{
PlotFunctionForErrors(() =>
{
var F = ComputeF();
var Kest = EstimateCameraFromImagePair.K(F, px * 2, py * 2);
double error = (Kest - K).Norm / (fx + fy);
return(error);
}, "|fx - fy_est|+|fy - fy_est| / (fx + fy)");
}
public void ProcessImages(Mat left, Mat right, Feature2D detector, Feature2D descriptor, DistanceType distanceType, double takeBest)
{
var match = MatchImagePair.Match(left, right, detector, descriptor, distanceType, 20.0);
DrawFeatures(left, right, match, takeBest);
var lps = match.LeftPointsList.Take((int)(match.LeftPoints.Size * takeBest));
var rps = match.RightPointsList.Take((int)(match.RightPoints.Size * takeBest));
var F = ComputeMatrix.F(new VectorOfPointF(lps.ToArray()), new VectorOfPointF(rps.ToArray()));
var K = EstimateCameraFromImagePair.K(F, left.Width, right.Height);
var E = ComputeMatrix.E(F, K);
FindTransformation.DecomposeToRTAndTriangulate(lps.ToList(), rps.ToList(), K, E,
out Image <Arthmetic, double> R, out Image <Arthmetic, double> t, out Image <Arthmetic, double> X);
PrintMatricesInfo(E, K, R, t);
}