Package boofcv.alg.sfm.robust

Class DistancePlane2DToPixelSq

java.lang.Object

boofcv.alg.sfm.robust.DistancePlane2DToPixelSq

All Implemented Interfaces:

DistanceFromModel<Se2_F64,PlanePtPixel>

public class DistancePlane2DToPixelSq
extends Object
implements DistanceFromModel<Se2_F64,PlanePtPixel>

Computes the difference between a predicted observation and the actual observation. The prediction is done by applying a transform on a point in on a 2D plane then rendering it onto the camera.

Constructor Summary

Constructors

Constructor	Description
DistancePlane2DToPixelSq()
DistancePlane2DToPixelSq(CameraPlaneProjection planeProjection, NormalizedToPinholePixelError errorCamera)

Method Summary

Modifier and Type	Method	Description
double	distance(PlanePtPixel sample)
void	distances(List<PlanePtPixel> samples, double[] distance)
Class<Se2_F64>	getModelType()
Class<PlanePtPixel>	getPointType()
DistancePlane2DToPixelSq	newConcurrent()	Creates a new instances for concurrency.
void	setExtrinsic(Se3_F64 planeToCamera)	Specify extrinsic camera properties
void	setIntrinsic(double fx, double fy, double skew)	Specify intrinsic camera properties
void	setModel(Se2_F64 keyToCurr)

Methods inherited from class java.lang.Object

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

Constructor Details

DistancePlane2DToPixelSq

public DistancePlane2DToPixelSq(CameraPlaneProjection planeProjection,
 NormalizedToPinholePixelError errorCamera)

DistancePlane2DToPixelSq

public DistancePlane2DToPixelSq()

Method Details

setExtrinsic

public void setExtrinsic(Se3_F64 planeToCamera)

Specify extrinsic camera properties

Parameters:

planeToCamera - Transform from plane to camera reference frame

setIntrinsic

public void setIntrinsic(double fx,
 double fy,
 double skew)

Specify intrinsic camera properties

Parameters:

fx - focal length x

fy - focal length y

skew - camera skew

setModel

public void setModel(Se2_F64 keyToCurr)

Specified by:

setModel in interface DistanceFromModel<Se2_F64,PlanePtPixel>

distance

public double distance(PlanePtPixel sample)

Specified by:

distance in interface DistanceFromModel<Se2_F64,PlanePtPixel>

distances

public void distances(List<PlanePtPixel> samples,
 double[] distance)

Specified by:

distances in interface DistanceFromModel<Se2_F64,PlanePtPixel>

getPointType

public Class<PlanePtPixel> getPointType()

Specified by:

getPointType in interface DistanceFromModel<Se2_F64,PlanePtPixel>

getModelType

public Class<Se2_F64> getModelType()

Specified by:

getModelType in interface DistanceFromModel<Se2_F64,PlanePtPixel>

newConcurrent

public DistancePlane2DToPixelSq newConcurrent()

Creates a new instances for concurrency. Calibration data is shared between all instance so that only one needs to be updated.