boofcv.alg.geo.robust

Class DistanceSe3SymmetricSq

java.lang.Object

boofcv.alg.geo.robust.DistanceSe3SymmetricSq

All Implemented Interfaces:

DistanceModelStereoPixels<georegression.struct.se.Se3_F64,AssociatedPair>, org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,AssociatedPair>

public class DistanceSe3SymmetricSq
extends java.lang.Object
implements DistanceModelStereoPixels<georegression.struct.se.Se3_F64,AssociatedPair>

Computes the error for a given camera motion from two calibrated views. First a point is triangulated from the two views and the motion. Then the difference between the observed and projected point is found at each view. Error is normalized pixel difference squared.

error = Δx₁² + Δy₁² + Δx₂² + Δy₂²

Error units can be in either pixels² or unit less (normalized pixel coordinates). To compute the error in pixels pass in the correct intrinsic calibration parameters in the constructor. Otherwise pass in fx=1.fy=1,skew=0 for normalized.

NOTE: If a point does not pass the positive depth constraint then a very large error is returned.

NOTE: The provided transform must be from the key frame into the current frame.

Constructor Summary

Constructors

Constructor and Description
DistanceSe3SymmetricSq(TriangulateTwoViewsCalibrated triangulate) Configure distance calculation.
DistanceSe3SymmetricSq(TriangulateTwoViewsCalibrated triangulate, double key_fx, double key_fy, double key_skew, double curr_fx, double curr_fy, double curr_skew) Configure distance calculation.

Method Summary

Modifier and Type	Method and Description
double	computeDistance(AssociatedPair obs) Computes the error given the motion model
void	computeDistance(java.util.List<AssociatedPair> associatedPairs, double[] distance)
void	setIntrinsic(double cam1_fx, double cam1_fy, double cam1_skew, double cam2_fx, double cam2_fy, double cam2_skew) Specifies intrinsic parameters See comment above about how to specify error units using intrinsic parameters.
void	setModel(georegression.struct.se.Se3_F64 keyToCurr)

Methods inherited from class java.lang.Object

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

Constructor Detail

DistanceSe3SymmetricSq

public DistanceSe3SymmetricSq(TriangulateTwoViewsCalibrated triangulate,
                              double key_fx,
                              double key_fy,
                              double key_skew,
                              double curr_fx,
                              double curr_fy,
                              double curr_skew)

Configure distance calculation.

Parameters:

triangulate - Triangulates the intersection of two observations

DistanceSe3SymmetricSq

public DistanceSe3SymmetricSq(TriangulateTwoViewsCalibrated triangulate)

Configure distance calculation.

Parameters:

triangulate - Triangulates the intersection of two observations

Method Detail

setIntrinsic

public void setIntrinsic(double cam1_fx,
                         double cam1_fy,
                         double cam1_skew,
                         double cam2_fx,
                         double cam2_fy,
                         double cam2_skew)

Specifies intrinsic parameters See comment above about how to specify error units using intrinsic parameters.

Specified by:

setIntrinsic in interface DistanceModelStereoPixels<georegression.struct.se.Se3_F64,AssociatedPair>

Parameters:

cam1_fx - intrinsic parameter: focal length x for camera 1

cam1_fy - intrinsic parameter: focal length y for camera 1

cam1_skew - intrinsic parameter: skew for camera 1 (usually zero)

cam2_fx - intrinsic parameter: focal length x for camera 2

cam2_fy - intrinsic parameter: focal length y for camera 2

cam2_skew - intrinsic parameter: skew for camera 2 (usually zero)

setModel

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

Specified by:

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

computeDistance

public double computeDistance(AssociatedPair obs)

Computes the error given the motion model

Specified by:

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

Parameters:

obs - Observation in normalized pixel coordinates

Returns:

observation error

computeDistance

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

Specified by:

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