Class 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 Details

    • ResidualsTriangulateEpipolarSampson

      public ResidualsTriangulateEpipolarSampson()
  • Method Details

    • setObservations

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