boofcv.alg.geo.pose

Class PnPDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPDistanceReprojectionSq

All Implemented Interfaces:

DistanceModelMonoPixels<Se3_F64,Point2D3D>, DistanceFromModel<Se3_F64,Point2D3D>

public class PnPDistanceReprojectionSq
extends java.lang.Object
implements DistanceModelMonoPixels<Se3_F64,Point2D3D>

Computes the reprojection error squared for a given motion and Point2D3D. If the intrinsic parameters are provided then the error will be computed in pixels. Observations are assumed to be in normalized image coordinates.

error = (x'-x)^2 + (y' - y)^2

where (x,y) is the observed point location and (x',y') is the reprojected point from the 3D coordinate and coordinate transformation.

Constructor Summary

Constructors

Constructor and Description
PnPDistanceReprojectionSq()
PnPDistanceReprojectionSq(double fx, double fy, double skew) Computes reprojection error in pixels when provided to camera's intrinsic calibration.

Method Summary

Modifier and Type	Method and Description
void	computeDistance(java.util.List<Point2D3D> observations, double[] distance) Computes the distance a set of points is from the model and saves the results in the provided array.
double	computeDistance(Point2D3D pt) Computes the distance the point is from the model.
void	setIntrinsic(double fx, double fy, double skew) Specifies intrinsic camera parameters.
void	setModel(Se3_F64 worldToCamera) Sets the model parameters.

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq()

PnPDistanceReprojectionSq

public PnPDistanceReprojectionSq(double fx,
                                 double fy,
                                 double skew)

Computes reprojection error in pixels when provided to camera's intrinsic calibration.

Parameters:

fx - focal length x

fy - focal length y

skew - pixel skew

Method Detail

setIntrinsic

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

Description copied from interface: DistanceModelMonoPixels

Specifies intrinsic camera parameters.

Specified by:

setIntrinsic in interface DistanceModelMonoPixels<Se3_F64,Point2D3D>

Parameters:

fx - focal length x-axis

fy - focal length y-axis

skew - skew

setModel

public void setModel(Se3_F64 worldToCamera)

Description copied from interface: DistanceFromModel

Sets the model parameters.

Specified by:

setModel in interface DistanceFromModel<Se3_F64,Point2D3D>

Parameters:

worldToCamera - Model parameters.

computeDistance

public double computeDistance(Point2D3D pt)

Description copied from interface: DistanceFromModel

Computes the distance the point is from the model.

Specified by:

computeDistance in interface DistanceFromModel<Se3_F64,Point2D3D>

Parameters:

pt - Point being evaluated. Not modified.

Returns:

Distance the point is from the model.

computeDistance

public void computeDistance(java.util.List<Point2D3D> observations,
                            double[] distance)

Description copied from interface: DistanceFromModel

Computes the distance a set of points is from the model and saves the results in the provided array.

Specified by:

computeDistance in interface DistanceFromModel<Se3_F64,Point2D3D>

Parameters:

observations - Set of points which are to be evaluated.

distance - Where model distance is stored.