private boolean estimateProjectiveScene ( ) { List < AssociatedTriple > inliers = ransac . getMatchSet ( ) ; TrifocalTensor model = ransac . getModelParameters ( ) ; MultiViewOps . extractCameraMatrices ( model , P2 , P3 ) ; // Most of the time this makes little difference, but in some edges cases this enables it to // converge correctly RefineThreeViewProjective refineP23 = FactoryMultiView . threeViewRefine ( null ) ; if ( ! refineP23 . process ( inliers , P2 , P3 , P2 , P3 ) ) { if ( verbose != null ) { verbose . println ( "Can't refine P2 and P3!" ) ; } return false ; } return true ; }
Estimate the projective scene from the trifocal tensor