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

There is a newer version: 0.26

/*
 * Copyright (c) 2011-2016, 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.factory.geo;

import boofcv.struct.Configuration;
import boofcv.struct.calib.CameraPinholeRadial;

/**
 * Configuration parameters for estimating an essential matrix.
 *
 * @author Peter Abeles
 */
public class ConfigEssential implements Configuration {

	/**
	 * Which algorithm should it use.  Only use essential matrix ones.
	 */
	public EnumEpipolar which = EnumEpipolar.ESSENTIAL_5_NISTER;

	/**
	 * How many points should be used to resolve ambiguity in the solutions?
	 */
	public int numResolve = 2;

	/**
	 * Intrinsic camera parameters.  Used to compute error in pixels.
	 */
	public CameraPinholeRadial intrinsic;

	public ConfigEssential(CameraPinholeRadial intrinsic) {
		this.intrinsic = intrinsic;
	}

	@Override
	public void checkValidity() {
		switch (which) {
			case ESSENTIAL_5_NISTER:
			case ESSENTIAL_7_LINEAR:
			case ESSENTIAL_8_LINEAR:
				break;

			default:
				throw new IllegalArgumentException("which must be set to an essential matrix");
		}
	}
}