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

There is a newer version: 1.1.5

/*
 * Copyright (c) 2021, 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.factory.geo;

import boofcv.alg.geo.robust.DistanceTrifocalTransferSq;
import boofcv.misc.ConfigConverge;
import boofcv.struct.Configuration;

/**
 * Configuration for trifocal error computation
 *
 * @author Peter Abeles
 */
public class ConfigTrifocalError implements Configuration {

	/**
	 * How to compute the error
	 */
	public Model model = Model.REPROJECTION_REFINE;

	/**
	 * If an iterative method was selected, this specifies the convergence criteria
	 */
	public final ConfigConverge converge = new ConfigConverge(1e-8, 1e-8, 20);

	public ConfigTrifocalError setTo( ConfigTrifocalError src ) {
		this.model = src.model;
		this.converge.setTo(src.converge);
		return this;
	}

	@Override
	public void checkValidity() {
		converge.checkValidity();
	}

	public enum Model {
		/**
		 * Computes camera matrices and triangulates a point in 3D space. Reprojects the points and returns the error.
		 * Triangulation is done using a linear algorithm only.
		 *
		 * inlier units: Pixels
		 *
		 * @see boofcv.alg.geo.robust.DistanceTrifocalReprojectionSq
		 */
		REPROJECTION,
		/**
		 * Computes camera matrices and triangulates a point in 3D space. Reprojects the points and returns the error.
		 * Additional non-linear refinement is done on triangulated points.
		 *
		 * inlier units: Pixels
		 *
		 * @see boofcv.alg.geo.robust.DistanceTrifocalReprojectionSq
		 */
		REPROJECTION_REFINE,
		/**
		 * Point transfer from view 0 into 2 and 0 into 3.
		 *
		 * inlier units: Pixels
		 *
		 * @see DistanceTrifocalTransferSq
		 */
		POINT_TRANSFER
	}
}