boofcv.alg.geo.f
Class FundamentalResidualSampson
- java.lang.Object
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- boofcv.alg.geo.f.FundamentalResidualSampson
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- All Implemented Interfaces:
- ModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>
public class FundamentalResidualSampson extends java.lang.Object implements ModelObservationResidual<org.ejml.data.DenseMatrix64F,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
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Constructor Summary
Constructors Constructor and Description FundamentalResidualSampson()
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method and Description doublecomputeResidual(AssociatedPair observation)Compute the error for the observationvoidsetModel(org.ejml.data.DenseMatrix64F F)Specify the epipolar matrix being evaluated
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Method Detail
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setModel
public void setModel(org.ejml.data.DenseMatrix64F F)
Description copied from interface:ModelObservationResidualSpecify the epipolar matrix being evaluated- Specified by:
setModelin interfaceModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>- Parameters:
F- The model being optimized
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computeResidual
public double computeResidual(AssociatedPair observation)
Description copied from interface:ModelObservationResidualCompute the error for the observation- Specified by:
computeResidualin interfaceModelObservationResidual<org.ejml.data.DenseMatrix64F,AssociatedPair>- Parameters:
observation- Observation of point feature in two views- Returns:
- residual Error magnitude
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