Package boofcv.alg.geo.triangulate

Class ResidualsTriangulateEpipolarSampson

java.lang.Object

boofcv.alg.geo.triangulate.ResidualsTriangulateEpipolarSampson

All Implemented Interfaces:

FunctionInOut, FunctionNtoM

public class ResidualsTriangulateEpipolarSampson
extends Object
implements FunctionNtoM

Sampson first-order to geometric triangulation error. Partially enforces epipolar constraints. Much less expensive to compute than true constrained geometric error.

[1] Page 315 in R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
ResidualsTriangulateEpipolarSampson()

Method Summary

Modifier and Type	Method	Description
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, double[] output)
void	setObservations(List<Point2D_F64> observations, List<DMatrixRMaj> essential)	Configures inputs.

Methods inherited from class java.lang.Object

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

Constructor Details

ResidualsTriangulateEpipolarSampson

public ResidualsTriangulateEpipolarSampson()

Method Details

setObservations

public void setObservations(List<Point2D_F64> observations,
 List<DMatrixRMaj> essential)

Configures inputs.

Parameters:

observations - Observations of the feature at different locations. Normalized image coordinates.

essential - Essential matrices associated with camera motion (world to camera)

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

process

public void process(double[] input,
 double[] output)

Specified by:

process in interface FunctionNtoM