Package boofcv.alg.geo.pose

Class PnPDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPDistanceReprojectionSq

All Implemented Interfaces:

DistanceFromModelMultiView<Se3_F64,Point2D3D>, DistanceFromModel<Se3_F64,Point2D3D>

public class PnPDistanceReprojectionSq
extends Object
implements DistanceFromModelMultiView<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.

Constructor Summary

Constructors

Constructor	Description
PnPDistanceReprojectionSq()
PnPDistanceReprojectionSq(NormalizedToPinholePixelError pixelError)

Method Summary

Modifier and Type	Method	Description
double	distance(Point2D3D pt)
void	distances(List<Point2D3D> observations, double[] distance)
Class<Se3_F64>	getModelType()
int	getNumberOfViews()
Class<Point2D3D>	getPointType()
DistanceFromModelMultiView<Se3_F64,Point2D3D>	newConcurrentChild()	Creates a child which references the intrinsics but is otherwise decoupled
void	setIntrinsic(int view, CameraPinhole intrinsic)
void	setModel(Se3_F64 worldToCamera)

Methods inherited from class java.lang.Object

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

Constructor Details

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq(NormalizedToPinholePixelError pixelError)

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq()

Method Details

setModel

public void setModel(Se3_F64 worldToCamera)

Specified by:

setModel in interface DistanceFromModel<Se3_F64,Point2D3D>

distance

public double distance(Point2D3D pt)

Specified by:

distance in interface DistanceFromModel<Se3_F64,Point2D3D>

distances

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

Specified by:

distances in interface DistanceFromModel<Se3_F64,Point2D3D>

getPointType

public Class<Point2D3D> getPointType()

Specified by:

getPointType in interface DistanceFromModel<Se3_F64,Point2D3D>

getModelType

public Class<Se3_F64> getModelType()

Specified by:

getModelType in interface DistanceFromModel<Se3_F64,Point2D3D>

setIntrinsic

public void setIntrinsic(int view,
 CameraPinhole intrinsic)

Specified by:

setIntrinsic in interface DistanceFromModelMultiView<Se3_F64,Point2D3D>

getNumberOfViews

public int getNumberOfViews()

Specified by:

getNumberOfViews in interface DistanceFromModelMultiView<Se3_F64,Point2D3D>

newConcurrentChild

public DistanceFromModelMultiView<Se3_F64,Point2D3D> newConcurrentChild()

Creates a child which references the intrinsics but is otherwise decoupled