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# -*- coding: UTF-8 -*-
import numpy as np
import pycolmap
def to_homogeneous(p):
return np.pad(p, ((0, 0),) * (p.ndim - 1) + ((0, 1),), constant_values=1)
def compute_epipolar_errors(j_from_i: pycolmap.Rigid3d, p2d_i, p2d_j):
j_E_i = j_from_i.essential_matrix()
l2d_j = to_homogeneous(p2d_i) @ j_E_i.T
l2d_i = to_homogeneous(p2d_j) @ j_E_i
dist = np.abs(np.sum(to_homogeneous(p2d_i) * l2d_i, axis=1))
errors_i = dist / np.linalg.norm(l2d_i[:, :2], axis=1)
errors_j = dist / np.linalg.norm(l2d_j[:, :2], axis=1)
return errors_i, errors_j
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