boofcv.alg.geo.pose

Class PnPDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPDistanceReprojectionSq

All Implemented Interfaces:

DistanceModelMonoPixels<georegression.struct.se.Se3_F64,Point2D3D>, org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>

public class PnPDistanceReprojectionSq
extends Object
implements DistanceModelMonoPixels<georegression.struct.se.Se3_F64,Point2D3D>

Computes the reprojection error squared for a given motion and Point2D3D. If the intrinsic parameters are provided then the error will be computed in pixels. Observations are assumed to be in normalized image coordinates.

error = (x'-x)^2 + (y' - y)^2 where (x,y) is the observed point location and (x',y') is the reprojected point from the 3D coordinate and coordinate transformation.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
PnPDistanceReprojectionSq()
PnPDistanceReprojectionSq(double fx, double fy, double skew) Computes reprojection error in pixels when provided to camera's intrinsic calibration.

Method Summary

Methods

Modifier and Type	Method and Description
void	computeDistance(List<Point2D3D> observations, double[] distance)
double	computeDistance(Point2D3D pt)
void	setIntrinsic(double fx, double fy, double skew) Specifies intrinsic camera parameters.
void	setModel(georegression.struct.se.Se3_F64 worldToCamera)

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq()

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq(double fx,
                         double fy,
                         double skew)

Computes reprojection error in pixels when provided to camera's intrinsic calibration.

Parameters:

fx - focal length x

fy - focal length y

skew - pixel skew

Method Detail

setIntrinsic

public void setIntrinsic(double fx,
                double fy,
                double skew)

Description copied from interface: DistanceModelMonoPixels

Specifies intrinsic camera parameters.

Specified by:

setIntrinsic in interface DistanceModelMonoPixels<georegression.struct.se.Se3_F64,Point2D3D>

Parameters:

fx - focal length x-axis

fy - focal length y-axis

skew - skew

setModel

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

Specified by:

setModel in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>

computeDistance

public double computeDistance(Point2D3D pt)

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>

computeDistance

public void computeDistance(List<Point2D3D> observations,
                   double[] distance)

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>