Class EssentialResidualSampson

java.lang.Object
boofcv.alg.geo.f.EssentialResidualSampson
All Implemented Interfaces:
ModelObservationResidual<DMatrixRMaj,​AssociatedPair>

public class EssentialResidualSampson
extends Object
implements ModelObservationResidual<DMatrixRMaj,​AssociatedPair>

Computes the Sampson distance residual for a set of observations given an esesntial matrix. For use in least-squares non-linear optimization algorithms. Error is computed in pixels.

0 = x2T*F*x1

E=K2'*F*K1

F=inv(K2')*E*inv(K1)

0=(K2*n2)'inv(K2)'*E*inv(K1)*(K1*n2), where n1 and n2 are normalized image coordinates

Page 287 in: R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003