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 calculated 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) + (F*pt1)(1) + (F'*pt2)(0) + (F'*pt2)(1))

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

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