private boolean robustFitTrifocal ( List < AssociatedTriple > associated ) { // Fit a trifocal tensor to the observations robustly ransac . process ( associated ) ; inliers = ransac . getMatchSet ( ) ; TrifocalTensor model = ransac . getModelParameters ( ) ; if ( verbose != null ) verbose . println ( "Remaining after RANSAC " + inliers . size ( ) + " / " + associated . size ( ) ) ; // estimate using all the inliers // No need to re-scale the input because the estimator automatically adjusts the input on its own if ( ! trifocalEstimator . process ( inliers , model ) ) { if ( verbose != null ) { verbose . println ( "Trifocal estimator failed" ) ; } return false ; } return true ; }
Fits a trifocal tensor to the list of matches features using a robust method