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 java.lang.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 and Description
DistancePlane2DToPixelSq()

Method Summary

Modifier and Type	Method and Description
void	computeDistance(java.util.List<PlanePtPixel> samples, double[] distance) Computes the distance a set of points is from the model and saves the results in the provided array.
double	computeDistance(PlanePtPixel sample) Computes the distance the point is from the model.
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) Sets the model parameters.

Methods inherited from class java.lang.Object

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

Constructor Detail

DistancePlane2DToPixelSq

public DistancePlane2DToPixelSq()

Method Detail

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)

Description copied from interface: DistanceFromModel

Sets the model parameters.

Specified by:

setModel in interface DistanceFromModel<Se2_F64,PlanePtPixel>

Parameters:

keyToCurr - Model parameters.

computeDistance

public double computeDistance(PlanePtPixel sample)

Description copied from interface: DistanceFromModel

Computes the distance the point is from the model.

Specified by:

computeDistance in interface DistanceFromModel<Se2_F64,PlanePtPixel>

Parameters:

sample - Point being evaluated. Not modified.

Returns:

Distance the point is from the model.

computeDistance

public void computeDistance(java.util.List<PlanePtPixel> samples,
                            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<Se2_F64,PlanePtPixel>

Parameters:

samples - Set of points which are to be evaluated.

distance - Where model distance is stored.