Package boofcv.alg.geo.pose
Class PnPResidualReprojection
java.lang.Object
boofcv.alg.geo.pose.PnPResidualReprojection
- All Implemented Interfaces:
ModelObservationResidualN<Se3_F64,Point2D3D>
public class PnPResidualReprojection extends Object implements ModelObservationResidualN<Se3_F64,Point2D3D>
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.
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Constructor Summary
Constructors Constructor Description PnPResidualReprojection()
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Method Summary
Modifier and Type Method Description int
computeResiduals(Point2D3D data, double[] residuals, int index)
Compute the residual errors for the observationint
getN()
The number of outputsvoid
setModel(Se3_F64 model)
Specify the model being evaluated
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Constructor Details
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PnPResidualReprojection
public PnPResidualReprojection()
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Method Details
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setModel
Description copied from interface:ModelObservationResidualN
Specify the model being evaluated- Specified by:
setModel
in interfaceModelObservationResidualN<Se3_F64,Point2D3D>
- Parameters:
model
- The model.
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computeResiduals
Description copied from interface:ModelObservationResidualN
Compute the residual errors for the observation- Specified by:
computeResiduals
in interfaceModelObservationResidualN<Se3_F64,Point2D3D>
- Parameters:
data
- Observation of point feature in two views- Returns:
- The new index. index + getN()
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getN
public int getN()Description copied from interface:ModelObservationResidualN
The number of outputs- Specified by:
getN
in interfaceModelObservationResidualN<Se3_F64,Point2D3D>
- Returns:
- number of outputs
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