Package boofcv.alg.geo.pose

Class 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 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)