Package boofcv.alg.geo.f

Class FundamentalResidualSampson

java.lang.Object

boofcv.alg.geo.f.FundamentalResidualSampson

All Implemented Interfaces:

ModelObservationResidual<DMatrixRMaj,AssociatedPair>

public class FundamentalResidualSampson
extends Object
implements ModelObservationResidual<DMatrixRMaj,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 Summary

Constructors

Constructor	Description
FundamentalResidualSampson()

Method Summary

Modifier and Type	Method	Description
double	computeResidual(AssociatedPair observation)	Compute the error for the observation
void	setModel(DMatrixRMaj F)	Specify the epipolar matrix being evaluated

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

FundamentalResidualSampson

public FundamentalResidualSampson()

Method Details

setModel

public void setModel(DMatrixRMaj F)

Description copied from interface: ModelObservationResidual

Specify the epipolar matrix being evaluated

Specified by:

setModel in interface ModelObservationResidual<DMatrixRMaj,AssociatedPair>

Parameters:

F - The model being optimized

computeResidual

public double computeResidual(AssociatedPair observation)

Description copied from interface: ModelObservationResidual

Compute the error for the observation

Specified by:

computeResidual in interface ModelObservationResidual<DMatrixRMaj,AssociatedPair>

Parameters:

observation - Observation of point feature in two views

Returns:

residual Error magnitude