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Convert levels to weights in compute_uncertainty #34

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Merged
mcm001 merged 1 commit into from
Sep 20, 2026
Merged

Convert levels to weights in compute_uncertainty #34

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29 changes: 20 additions & 9 deletions src/mrcal_jni.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,23 @@ constexpr std::string jni_make_method_sig(std::string_view retval,
return result;
}

/**
* Converts decimation levels to point weights using `weight=0.5^level`.
* Negative weights correspond to ignored points.
*
* @param observations Input as [x, y, level], output as [x, y, weight]
*/
static void levels_to_weights(std::span<mrcal_point3_t> observations) {
for (auto &o : observations) {
double &level = o.z;
if (level < 0) {
o.z = -1;
} else {
o.z = std::pow(0.5, level);
}
}
}

/**
* Finds a class and keeps it as a global reference.
*
Expand Down Expand Up @@ -206,15 +223,7 @@ Java_org_photonvision_mrcal_MrCalJNI_mrcal_1calibrate_1camera
total_frames_rt_toref.push_back(seed_pose);
}

// Convert detection level to weights
for (auto &o : observations) {
double &level = o.z;
if (level < 0) {
o.z = -1;
} else {
o.z = std::pow(0.5, level);
}
}
levels_to_weights(observations);

auto statsptr = mrcal_main(observations, total_frames_rt_toref, boardSize,
static_cast<double>(boardSpacing), imagerSize,
Expand Down Expand Up @@ -355,6 +364,8 @@ Java_org_photonvision_mrcal_MrCalJNI_compute_1uncertainty
cv::Size calobjectSize(boardWidth, boardHeight);
cv::Size sampleRes(sampleGridWidth, sampleGridHeight);

levels_to_weights(observations.asSpan<mrcal_point3_t>());

std::vector<mrcal_point3_t> result;
try {
result = compute_uncertainty(
Expand Down
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