comptensor

This program computes the trilinear tensor using a non-linear 6 point algorithm of Torre. In the same way as compfund the tensor is refit to the support correspondences at the end of the random sampling process, but only if this decreases the average error (which is often the case).

**USAGE:**

comptensor -f matchesfile [-n numberOfRandomSamples] [-count] [-l2]

[-a affine] [-m no refit] [-s stop early count] [-d distance for inliers]

[-i imagefile1] [-j imagefile2] [-k imagefile3]

**Parameters:**

**-f: **the triple correspondence
match file used to compute the fundamental matrix.

*This is a mandatory input.*

**-n: **the number of random samples
to perform.

**-count:** use count scoring (score
by counting the number of supporting points).

**-l2:** use l2 scoring (score
supporting points based on the inlier distance).

**-a: **compute only the affine
tensor.

**-m: **do not perform a refit at the
end.

**-d: **maximum allowable distance to
be considered an inlier

**-i: **1^{st}**
**image file for drawing translation vectors into

**-j: **2^{nd}**
**image file for drawing translation vectors into

**-k: **3^{rd}**
**image file for drawing translation vectors into

**-s: **success probability, stop
sampling when this probability of success has been reached

**Notes:**

The –s flag substantially reduces the required number of random samples by stopping the process when this probability of success has been reached.

The inlier distance for a correspondence triple (three points) is the average error of the tensor transfer. In other words, remove one point, compute the predicted point in that image using the tensor, and compute the distance from this predicted point to the actual point. The average of these three distances is the inlier distance for that correspondence.

**Default Values:**

1000 samples

count style scoring

1.0 pixels distance to be considered an inlier

NO refit at the end

Success probability: 99.999 percent

Default algorithm: Exact with 6 matches

**Output:**

A file with the same name as the input file is produced with the extension TM. This holds the nine values for the fundamental matrix. E.g. X.matches.filtered à X.matches.filtered.TM