public class FundamentalResidualSampson extends java.lang.Object implements ModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>
Computes the Sampson distance residual for a set of observations given a fundamental matrix. For use in least-squares non-linear optimization algorithms.
Page 287 in: R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
| Constructor and Description |
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FundamentalResidualSampson() |
| Modifier and Type | Method and Description |
|---|---|
double |
computeResidual(AssociatedPair observation)
Compute the error for the observation
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void |
setModel(org.ejml.data.DenseMatrix64F F)
Specify the epipolar matrix being evaluated
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public void setModel(org.ejml.data.DenseMatrix64F F)
ModelObservationResidualsetModel in interface ModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>F - The model being optimizedpublic double computeResidual(AssociatedPair observation)
ModelObservationResidualcomputeResidual in interface ModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>observation - Observation of point feature in two views