public double computeFeatureDiversity ( Se3_F32 keyToCurrent ) { diversity . reset ( ) ; for ( int i = 0 ; i < keypixels . size ( ) ; i ++ ) { Pixel p = keypixels . data [ i ] ; if ( ! p . valid ) continue ; SePointOps_F32 . transform ( keyToCurrent , p . p3 , S ) ; diversity . addPoint ( S . x , S . y , S . z ) ; } diversity . process ( ) ; return diversity . getSpread ( ) ; }
Computes the diversity of valid pixels in keyframe to the location in the current frame .