Package boofcv.alg.geo.robust

Class DistanceTrifocalReprojectionSq

java.lang.Object

boofcv.alg.geo.robust.DistanceTrifocalReprojectionSq

All Implemented Interfaces:

DistanceFromModel<TrifocalTensor,AssociatedTriple>

public class DistanceTrifocalReprojectionSq
extends Object
implements DistanceFromModel<TrifocalTensor,AssociatedTriple>

Estimates the accuracy of a trifocal tensor using reprojection error. The camera matrices are extracted from the tensor, these are used to triangulate the observation. the found point is then reprojected back to each view and the delta computed. Optional non-linear refinement.

Constructor Summary

Constructors

Constructor	Description
DistanceTrifocalReprojectionSq()
DistanceTrifocalReprojectionSq(double gtol, int maxIterations)	Call this constructor if you wish to apply non-linear refinement.

Method Summary

Modifier and Type	Method	Description
double	distance(AssociatedTriple pt)
void	distances(List<AssociatedTriple> observations, double[] distance)
Class<TrifocalTensor>	getModelType()
Class<AssociatedTriple>	getPointType()
void	setModel(TrifocalTensor trifocalTensor)

Methods inherited from class java.lang.Object

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

Constructor Details

DistanceTrifocalReprojectionSq

public DistanceTrifocalReprojectionSq(double gtol,
 int maxIterations)

Call this constructor if you wish to apply non-linear refinement.

Parameters:

gtol - convergence tolerance. Try 1e-8

maxIterations - Max iterations. Try 50

DistanceTrifocalReprojectionSq

public DistanceTrifocalReprojectionSq()

Method Details

setModel

public void setModel(TrifocalTensor trifocalTensor)

Specified by:

setModel in interface DistanceFromModel<TrifocalTensor,AssociatedTriple>

distance

public double distance(AssociatedTriple pt)

Specified by:

distance in interface DistanceFromModel<TrifocalTensor,AssociatedTriple>

distances

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

Specified by:

distances in interface DistanceFromModel<TrifocalTensor,AssociatedTriple>

getPointType

public Class<AssociatedTriple> getPointType()

Specified by:

getPointType in interface DistanceFromModel<TrifocalTensor,AssociatedTriple>

getModelType

public Class<TrifocalTensor> getModelType()

Specified by:

getModelType in interface DistanceFromModel<TrifocalTensor,AssociatedTriple>