Package boofcv.alg.geo.h

Class HomographyResidualSampson

java.lang.Object

boofcv.alg.geo.h.HomographyResidualSampson

All Implemented Interfaces:

ModelObservationResidualN<DMatrixRMaj,AssociatedPair>

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

Constructor Summary

Constructors

Constructor	Description
HomographyResidualSampson()

Method Summary

Modifier and Type	Method	Description
void	computeJacobian(Point2D_F64 x1, Point2D_F64 x2)
int	computeResiduals(AssociatedPair p, double[] residuals, int index)	Compute the residual errors for the observation
double	error1(double x1, double y1, double x2, double y2)	x2 = H*x1
double	error2(double x1, double y1, double x2, double y2)
int	getN()	The number of outputs
void	setModel(DMatrixRMaj H)	Specify the model being evaluated

Methods inherited from class java.lang.Object

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

Constructor Details

HomographyResidualSampson

public HomographyResidualSampson()

Method Details

setModel

public void setModel(DMatrixRMaj H)

Description copied from interface: ModelObservationResidualN

Specify the model being evaluated

Specified by:

setModel in interface ModelObservationResidualN<DMatrixRMaj,AssociatedPair>

Parameters:

H - The model.

computeResiduals

public int computeResiduals(AssociatedPair p,
 double[] residuals,
 int index)

Description copied from interface: ModelObservationResidualN

Compute the residual errors for the observation

Specified by:

computeResiduals in interface ModelObservationResidualN<DMatrixRMaj,AssociatedPair>

Parameters:

p - Observation of point feature in two views

Returns:

The new index. index + getN()

error1

public double error1(double x1,
 double y1,
 double x2,
 double y2)

x2 = H*x1

error2

public double error2(double x1,
 double y1,
 double x2,
 double y2)

computeJacobian

public void computeJacobian(Point2D_F64 x1,
 Point2D_F64 x2)

getN

public int getN()

Description copied from interface: ModelObservationResidualN

The number of outputs

Specified by:

getN in interface ModelObservationResidualN<DMatrixRMaj,AssociatedPair>

Returns:

number of outputs