public double depthNView ( List < Point2D_F64 > obs , List < Se3_F64 > motion ) { double top = 0 , bottom = 0 ; Point2D_F64 a = obs . get ( 0 ) ; for ( int i = 1 ; i < obs . size ( ) ; i ++ ) { Se3_F64 se = motion . get ( i - 1 ) ; Point2D_F64 b = obs . get ( i ) ; GeometryMath_F64 . multCrossA ( b , se . getR ( ) , temp0 ) ; GeometryMath_F64 . mult ( temp0 , a , temp1 ) ; GeometryMath_F64 . cross ( b , se . getT ( ) , temp2 ) ; top += temp2 . x + temp2 . y + temp2 . z ; bottom += temp1 . x + temp1 . y + temp1 . z ; } return - top / bottom ; }
Computes the pixel depth from N views of the same object . Pixel depth in the first frame .