Calculates the Sampson Distance between two points

sd = cv.sampsonDistance(pt1, pt2, F)

Input

• pt1 first homogeneous 2D point.
• pt2 second homogeneous 2D point.
• F 3x3 fundamental matrix.

Output

• sd The computed Sampson distance.

The function cv.sampsonDistance calculates and returns the first order approximation of the geometric error as:

                                 (pt2'*F*pt1)^2
sd(pt1,pt2) = -------------------------------------------------------------
              ((F*pt1)(0)^2 + (F*pt1)(1)^2 + (F'*pt2)(0)^2 + (F'*pt2)(1)^2)

The fundamental matrix may be calculated using the cv.findFundamentalMat function. See [HartleyZ00] 11.4.3 for details.

All inputs are in double-precision floating-point type.

References

[HartleyZ00]:

Richard Hartley and Andrew Zisserman. "Multiple View Geometry in Computer Vision". Cambridge University Press, 2003.