Package boofcv.alg.geo.robust

Class DistanceSe3SymmetricSqPointing

java.lang.Object

boofcv.alg.geo.robust.DistanceSe3SymmetricSqPointing

All Implemented Interfaces:

DistanceFromModelMultiView2<Se3_F64,AssociatedPair3D>, DistanceFromModel<Se3_F64,AssociatedPair3D>

public class DistanceSe3SymmetricSqPointing
extends Object
implements DistanceFromModelMultiView2<Se3_F64,AssociatedPair3D>

Computes the error for a given camera motion from two calibrated views. Same as DistanceSe3SymmetricSq except that it takes in observations as pointing vectors.

Constructor Summary

Constructors

Constructor	Description
DistanceSe3SymmetricSqPointing(Triangulate2PointingMetricH triangulator)	Configure distance calculation.

Method Summary

Modifier and Type	Method	Description
double	distance(AssociatedPair3D obs)	Computes the error given the motion model
void	distances(List<AssociatedPair3D> associatedPairs, double[] distance)
Class<Se3_F64>	getModelType()
int	getNumberOfViews()
Class<AssociatedPair3D>	getPointType()
void	setDistortion(int view, Point3Transform2_F64 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

DistanceSe3SymmetricSqPointing

public DistanceSe3SymmetricSqPointing(Triangulate2PointingMetricH 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,AssociatedPair3D>

distance

public double distance(AssociatedPair3D obs)

Computes the error given the motion model

Specified by:

distance in interface DistanceFromModel<Se3_F64,AssociatedPair3D>

Parameters:

obs - Observation in normalized pixel coordinates

Returns:

observation error

distances

public void distances(List<AssociatedPair3D> associatedPairs,
 double[] distance)

Specified by:

distances in interface DistanceFromModel<Se3_F64,AssociatedPair3D>

getPointType

public Class<AssociatedPair3D> getPointType()

Specified by:

getPointType in interface DistanceFromModel<Se3_F64,AssociatedPair3D>

getModelType

public Class<Se3_F64> getModelType()

Specified by:

getModelType in interface DistanceFromModel<Se3_F64,AssociatedPair3D>

setDistortion

public void setDistortion(int view,
 Point3Transform2_F64 intrinsic)

Specified by:

setDistortion in interface DistanceFromModelMultiView2<Se3_F64,AssociatedPair3D>

getNumberOfViews

public int getNumberOfViews()

Specified by:

getNumberOfViews in interface DistanceFromModelMultiView2<Se3_F64,AssociatedPair3D>