boofcv.alg.sfm.robust

Class DistancePlane2DToPixelSq

java.lang.Object

boofcv.alg.sfm.robust.DistancePlane2DToPixelSq

All Implemented Interfaces:

org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se2_F64,PlanePtPixel>

public class DistancePlane2DToPixelSq
extends java.lang.Object
implements org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.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

Methods

Modifier and Type	Method and Description
void	computeDistance(java.util.List<PlanePtPixel> samples, double[] distance)
double	computeDistance(PlanePtPixel sample)
void	setExtrinsic(georegression.struct.se.Se3_F64 planeToCamera) Specify extrinsic camera properties
void	setIntrinsic(double fx, double fy, double skew) Specify intrinsic camera properties
void	setModel(georegression.struct.se.Se2_F64 keyToCurr)

Methods inherited from class java.lang.Object

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

Constructor Detail

DistancePlane2DToPixelSq

public DistancePlane2DToPixelSq()

Method Detail

setExtrinsic

public void setExtrinsic(georegression.struct.se.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(georegression.struct.se.Se2_F64 keyToCurr)

Specified by:

setModel in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se2_F64,PlanePtPixel>

computeDistance

public double computeDistance(PlanePtPixel sample)

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se2_F64,PlanePtPixel>

computeDistance

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

Specified by:

computeDistance in interface org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se2_F64,PlanePtPixel>