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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.5

/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo.f;

import boofcv.alg.geo.ModelObservationResidual;
import boofcv.struct.geo.AssociatedPair;
import georegression.geometry.GeometryMath_F64;
import georegression.struct.point.Point3D_F64;
import org.ejml.data.DMatrixRMaj;

/**
 * 
 * Computes the residual just using the fundamental matrix constraint
 * 
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class FundamentalResidualSimple implements ModelObservationResidual {
	DMatrixRMaj F;
	Point3D_F64 temp = new Point3D_F64();

	@Override
	public void setModel( DMatrixRMaj F ) {
		this.F = F;
	}

	@Override
	public double computeResidual( AssociatedPair observation ) {
		GeometryMath_F64.multTran(F, observation.p2, temp);

		return temp.x*observation.p1.x + temp.y*observation.p1.y + temp.z;
	}
}