Class HomographyResidualSampson

All Implemented Interfaces:

public class HomographyResidualSampson extends Object implements ModelObservationResidualN<DMatrixRMaj,AssociatedPair>

Computes the Sampson distance residual for a set of observations given a homography matrix. For use in least-squares non-linear optimization algorithms. The full 9 elements of the 3x3 matrix are used to parameterize. This has an extra redundant parameter, but is much simpler and should not affect the final result.

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