protected void createLinearSystem ( List < AssociatedTriple > observations ) { int N = observations . size ( ) ; A . reshape ( 4 * N , 27 ) ; A . zero ( ) ; for ( int i = 0 ; i < N ; i ++ ) { AssociatedTriple t = observations . get ( i ) ; N1 . apply ( t . p1 , p1_norm ) ; N2 . apply ( t . p2 , p2_norm ) ; N3 . apply ( t . p3 , p3_norm ) ; insert ( i , 0 , p1_norm . x ) ; // tensor 1 insert ( i , 1 , p1_norm . y ) ; // tensor 2 insert ( i , 2 , 1 ) ; // tensor 3 } }
Constructs the linear matrix that describes from the 3 - point constraint with linear dependent rows removed