Package boofcv.alg.geo.robust

Class DistanceSe3SymmetricSq

java.lang.Object

boofcv.alg.geo.robust.DistanceSe3SymmetricSq

All Implemented Interfaces:

DistanceFromModelMultiView<Se3_F64,AssociatedPair>, DistanceFromModel<Se3_F64,AssociatedPair>

public class DistanceSe3SymmetricSq
extends Object
implements DistanceFromModelMultiView<Se3_F64,AssociatedPair>

Computes the error for a given camera motion from two calibrated views. First a point is triangulated in homogenous coordinates from the two views and the motion. Then the difference between the observed and projected point is found at each view. Error is normalized pixel difference squared.

error = Δx₁² + Δy₁² + Δx₂² + Δy₂²

Homogenous coordinates are used so that pure/nearly pure rotation can be handled. Points will be at infinity.

Error units can be in either pixels² or unit less (normalized pixel coordinates). To compute the error in pixels pass in the correct intrinsic calibration parameters in the constructor. Otherwise pass in fx=1.fy=1,skew=0 for normalized.

NOTE: If a point does not pass the positive depth constraint then a very large error is returned.

NOTE: The provided transform must be from the key frame into the current frame.

Constructor Summary

Constructors

Constructor	Description
DistanceSe3SymmetricSq(Triangulate2ViewsMetricH triangulator)	Configure distance calculation.

Method Summary

Modifier and Type	Method	Description
double	distance(AssociatedPair obs)	Computes the error given the motion model
void	distances(List<AssociatedPair> associatedPairs, double[] distance)
Class<Se3_F64>	getModelType()
int	getNumberOfViews()
Class<AssociatedPair>	getPointType()
void	setIntrinsic(int view, CameraPinhole intrinsic)
void	setModel(Se3_F64 keyToCurr)

Methods inherited from class java.lang.Object

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

Constructor Details

DistanceSe3SymmetricSq

public DistanceSe3SymmetricSq(Triangulate2ViewsMetricH triangulator)

Configure distance calculation.

Parameters:

triangulator - Triangulates the intersection of two observations

Method Details

setModel

public void setModel(Se3_F64 keyToCurr)

Specified by:

setModel in interface DistanceFromModel<Se3_F64,AssociatedPair>

distance

public double distance(AssociatedPair obs)

Computes the error given the motion model

Specified by:

distance in interface DistanceFromModel<Se3_F64,AssociatedPair>

Parameters:

obs - Observation in normalized pixel coordinates

Returns:

observation error

distances

public void distances(List<AssociatedPair> associatedPairs,
 double[] distance)

Specified by:

distances in interface DistanceFromModel<Se3_F64,AssociatedPair>

getPointType

public Class<AssociatedPair> getPointType()

Specified by:

getPointType in interface DistanceFromModel<Se3_F64,AssociatedPair>

getModelType

public Class<Se3_F64> getModelType()

Specified by:

getModelType in interface DistanceFromModel<Se3_F64,AssociatedPair>

setIntrinsic

public void setIntrinsic(int view,
 CameraPinhole intrinsic)

Specified by:

setIntrinsic in interface DistanceFromModelMultiView<Se3_F64,AssociatedPair>

getNumberOfViews

public int getNumberOfViews()

Specified by:

getNumberOfViews in interface DistanceFromModelMultiView<Se3_F64,AssociatedPair>