Package boofcv.alg.geo.triangulate

Class Triangulate2ViewsReprojectionMetricError

java.lang.Object

boofcv.alg.geo.triangulate.Triangulate2ViewsReprojectionMetricError

public class Triangulate2ViewsReprojectionMetricError
extends Object

Computes reprojection error after triangulation for calibrated images

Constructor Summary

Constructors

Constructor	Description
Triangulate2ViewsReprojectionMetricError()

Method Summary

Modifier and Type	Method	Description
void	configure(CameraPinhole parametersA, CameraPinhole parametersB)
double	process(Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point3D_F64 Xa)	Computes average squares error in pixel from both views.( ||a_i-x_i||^2 + ||b_i-x_i||^2 )/ 2

Methods inherited from class java.lang.Object

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

Constructor Details

Triangulate2ViewsReprojectionMetricError

public Triangulate2ViewsReprojectionMetricError()

Method Details

configure

public void configure(CameraPinhole parametersA,
 CameraPinhole parametersB)

process

public double process(Point2D_F64 a,
 Point2D_F64 b,
 Se3_F64 a_to_b,
 Point3D_F64 Xa)

Computes average squares error in pixel from both views.( ||a_i-x_i||^2 + ||b_i-x_i||^2 )/ 2

Parameters:

a - Normalized image coordinate observation in view A

b - Normalized image coordinate observation in view B

a_to_b - transform from view A to view B

Xa - 3D location in image A