boofcv.alg.geo.pose

Class PnPStereoDistanceReprojectionSq

java.lang.Object

boofcv.alg.geo.pose.PnPStereoDistanceReprojectionSq

All Implemented Interfaces:

DistanceFromModel<Se3_F64,Stereo2D3D>

public class PnPStereoDistanceReprojectionSq
extends java.lang.Object
implements DistanceFromModel<Se3_F64,Stereo2D3D>

Computes sum of reprojection error squared in pixels for a pair of stereo observations. If the point is behind either the left or right camera and can't be viewed then Double.MAX_VALUE is returned.

error = dx0^2 + dy0^2 + dx1^2 + dy1^2

where dx0 = residual along x-axis in image 0

Constructor Summary

Constructors

Constructor and Description
PnPStereoDistanceReprojectionSq()

Method Summary

Modifier and Type	Method and Description
void	computeDistance(java.util.List<Stereo2D3D> observations, double[] distance) Computes the distance a set of points is from the model and saves the results in the provided array.
double	computeDistance(Stereo2D3D pt) Computes the distance the point is from the model.
void	setModel(Se3_F64 worldToLeft) Sets the model parameters.
void	setStereoParameters(StereoParameters param)

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPStereoDistanceReprojectionSq

public PnPStereoDistanceReprojectionSq()

Method Detail

setStereoParameters

public void setStereoParameters(StereoParameters param)

setModel

public void setModel(Se3_F64 worldToLeft)

Description copied from interface: DistanceFromModel

Sets the model parameters.

Specified by:

setModel in interface DistanceFromModel<Se3_F64,Stereo2D3D>

Parameters:

worldToLeft - Model parameters.

computeDistance

public double computeDistance(Stereo2D3D pt)

Description copied from interface: DistanceFromModel

Computes the distance the point is from the model.

Specified by:

computeDistance in interface DistanceFromModel<Se3_F64,Stereo2D3D>

Parameters:

pt - Point being evaluated. Not modified.

Returns:

Distance the point is from the model.

computeDistance

public void computeDistance(java.util.List<Stereo2D3D> 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,Stereo2D3D>

Parameters:

observations - Set of points which are to be evaluated.

distance - Where model distance is stored.