boofcv.alg.geo.pose

Class PnPStereoDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPStereoDistanceReprojectionSq

All Implemented Interfaces:

boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,Stereo2D3D>, org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

public class PnPStereoDistanceReprojectionSq
extends java.lang.Object
implements boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,Stereo2D3D>

Computes sum of reprojection error squared in pixels for a pair of stereo observations. If the point is behind either the left or right camera and can't be viewed then Double.MAX_VALUE is returned.

error = dx0^2 + dy0^2 + dx1^2 + dy1^2

where dx0 = residual along x-axis in image 0

Constructor Summary

Constructors

Constructor and Description
PnPStereoDistanceReprojectionSq()

Method Summary

Modifier and Type	Method and Description
void	computeDistance(java.util.List<Stereo2D3D> observations, double[] distance)
double	computeDistance(Stereo2D3D pt)
java.lang.Class<georegression.struct.se.Se3_F64>	getModelType()
int	getNumberOfViews()
java.lang.Class<Stereo2D3D>	getPointType()
void	setIntrinsic(int view, boofcv.struct.calib.CameraPinhole intrinsic)
void	setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)
void	setModel(georegression.struct.se.Se3_F64 worldToLeft)
void	setStereoParameters(boofcv.struct.calib.StereoParameters param)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PnPStereoDistanceReprojectionSq

public PnPStereoDistanceReprojectionSq()

Method Detail

setLeftToRight

public void setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)

setModel

public void setModel(georegression.struct.se.Se3_F64 worldToLeft)

Specified by:

setModel in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

computeDistance

public double computeDistance(Stereo2D3D pt)

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

computeDistance

public void computeDistance(java.util.List<Stereo2D3D> observations,
                            double[] distance)

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

getPointType

public java.lang.Class<Stereo2D3D> getPointType()

Specified by:

getPointType in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

getModelType

public java.lang.Class<georegression.struct.se.Se3_F64> getModelType()

Specified by:

getModelType in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Stereo2D3D>

setIntrinsic

public void setIntrinsic(int view,
                         boofcv.struct.calib.CameraPinhole intrinsic)

Specified by:

setIntrinsic in interface boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,Stereo2D3D>

getNumberOfViews

public int getNumberOfViews()

Specified by:

getNumberOfViews in interface boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,Stereo2D3D>

setStereoParameters

public void setStereoParameters(boofcv.struct.calib.StereoParameters param)