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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo.robust;

import boofcv.alg.geo.DistanceFromModelMultiView;
import boofcv.struct.calib.CameraPinhole;
import org.ddogleg.fitting.modelset.ModelGenerator;
import org.ddogleg.fitting.modelset.ModelManager;
import org.ddogleg.fitting.modelset.lmeds.LeastMedianOfSquares;
import org.ddogleg.fitting.modelset.ransac.Ransac;

/**
 * Extension of {@link Ransac} for two calibrated camera views. Input point will be in normalized image coordinates
 *
 * @author Peter Abeles
 */
public class LeastMedianOfSquaresMultiView extends LeastMedianOfSquares
		implements ModelMatcherMultiview
{

	private DistanceFromModelMultiView modelDistance;

	public LeastMedianOfSquaresMultiView(long randSeed, int totalCycles, double maxMedianError,
										 double inlierFraction, ModelManager modelManager,
										 ModelGenerator generator,
										 DistanceFromModelMultiView errorMetric)
	{
		super(randSeed, totalCycles, maxMedianError, inlierFraction, modelManager, generator, errorMetric);
		this.modelDistance = errorMetric;
	}

	public LeastMedianOfSquaresMultiView(long randSeed, int totalCycles, ModelManager modelManager,
										 ModelGenerator generator,
										 DistanceFromModelMultiView errorMetric) {
		super(randSeed, totalCycles, modelManager, generator, errorMetric);
		this.modelDistance = errorMetric;
	}

	@Override
	public void setIntrinsic( int view , CameraPinhole intrinsic ) {
		this.modelDistance.setIntrinsic(view,intrinsic);
	}

	@Override
	public int getNumberOfViews() {
		return modelDistance.getNumberOfViews();
	}
}