Class 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.