public class PnPDistanceReprojectionSq extends java.lang.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.
where (x,y) is the observed point location and (x',y') is the reprojected point from the 3D coordinate and coordinate transformation.
| Constructor and Description |
|---|
PnPDistanceReprojectionSq() |
PnPDistanceReprojectionSq(double fx,
double fy,
double skew)
Computes reprojection error in pixels when provided to camera's intrinsic calibration.
|
| Modifier and Type | Method and Description |
|---|---|
void |
computeDistance(java.util.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) |
public PnPDistanceReprojectionSq()
public PnPDistanceReprojectionSq(double fx,
double fy,
double skew)
fx - focal length xfy - focal length yskew - pixel skewpublic void setIntrinsic(double fx,
double fy,
double skew)
DistanceModelMonoPixelssetIntrinsic in interface DistanceModelMonoPixels<georegression.struct.se.Se3_F64,Point2D3D>fx - focal length x-axisfy - focal length y-axisskew - skewpublic void setModel(georegression.struct.se.Se3_F64 worldToCamera)
setModel in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>public double computeDistance(Point2D3D pt)
computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,Point2D3D>