Package boofcv.alg.geo.pose

Class PnPStereoDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPStereoDistanceReprojectionSq

All Implemented Interfaces:

DistanceFromModelMultiView<Se3_F64,Stereo2D3D>, DistanceFromModel<Se3_F64,Stereo2D3D>

public class PnPStereoDistanceReprojectionSq
extends Object
implements DistanceFromModelMultiView<Se3_F64,Stereo2D3D>

Computes sum of reprojection error squared in pixels for a pair of stereo observations. If the point is behind either the left or right camera and can't be viewed then Double.MAX_VALUE is returned.

error = dx0^2 + dy0^2 + dx1^2 + dy1^2

where dx0 = residual along x-axis in image 0

Constructor Summary

Constructors

Constructor	Description
PnPStereoDistanceReprojectionSq()
PnPStereoDistanceReprojectionSq(NormalizedToPinholePixelError leftPixelError, NormalizedToPinholePixelError rightPixelError, Se3_F64 leftToRight)

Method Summary

Modifier and Type	Method	Description
double	distance(Stereo2D3D pt)
void	distances(List<Stereo2D3D> observations, double[] distance)
Class<Se3_F64>	getModelType()
int	getNumberOfViews()
Class<Stereo2D3D>	getPointType()
DistanceFromModelMultiView<Se3_F64,Stereo2D3D>	newConcurrentChild()	Creates a child which references the intrinsics but is otherwise decoupled
void	setIntrinsic(int view, CameraPinhole intrinsic)
void	setLeftToRight(Se3_F64 leftToRight)
void	setModel(Se3_F64 worldToLeft)
void	setStereoParameters(StereoParameters param)

Methods inherited from class java.lang.Object

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

Constructor Details

PnPStereoDistanceReprojectionSq

public PnPStereoDistanceReprojectionSq(NormalizedToPinholePixelError leftPixelError,
 NormalizedToPinholePixelError rightPixelError,
 Se3_F64 leftToRight)

PnPStereoDistanceReprojectionSq

public PnPStereoDistanceReprojectionSq()

Method Details

setLeftToRight

public void setLeftToRight(Se3_F64 leftToRight)

setModel

public void setModel(Se3_F64 worldToLeft)

Specified by:

setModel in interface DistanceFromModel<Se3_F64,Stereo2D3D>

distance

public double distance(Stereo2D3D pt)

Specified by:

distance in interface DistanceFromModel<Se3_F64,Stereo2D3D>

distances

public void distances(List<Stereo2D3D> observations,
 double[] distance)

Specified by:

distances in interface DistanceFromModel<Se3_F64,Stereo2D3D>

getPointType

public Class<Stereo2D3D> getPointType()

Specified by:

getPointType in interface DistanceFromModel<Se3_F64,Stereo2D3D>

getModelType

public Class<Se3_F64> getModelType()

Specified by:

getModelType in interface DistanceFromModel<Se3_F64,Stereo2D3D>

setIntrinsic

public void setIntrinsic(int view,
 CameraPinhole intrinsic)

Specified by:

setIntrinsic in interface DistanceFromModelMultiView<Se3_F64,Stereo2D3D>

getNumberOfViews

public int getNumberOfViews()

Specified by:

getNumberOfViews in interface DistanceFromModelMultiView<Se3_F64,Stereo2D3D>

setStereoParameters

public void setStereoParameters(StereoParameters param)

newConcurrentChild

public DistanceFromModelMultiView<Se3_F64,Stereo2D3D> newConcurrentChild()

Creates a child which references the intrinsics but is otherwise decoupled