Struct PointWorldFrameWithSumReprojError

pub struct PointWorldFrameWithSumReprojError<R: RealField + Copy> {
    pub point: PointWorldFrame<R>,
    pub cum_reproj_dist: R,
    pub mean_reproj_dist: R,
    pub reproj_dists: Vec<R>,
}

A 3D world point with associated reprojection error statistics.

This structure extends PointWorldFrame with additional information about how well the reconstructed 3D point reprojects back to the original 2D observations in each camera. This is useful for quality assessment and outlier detection in 3D reconstruction.

Reprojection Error

Reprojection error measures how far the reconstructed 3D point projects from the original 2D observations when projected back into each camera. Lower values indicate better reconstruction quality.

Fields

• point: The reconstructed 3D point in world coordinates
• cum_reproj_dist: Sum of reprojection distances across all cameras
• mean_reproj_dist: Average reprojection distance per camera
• reproj_dists: Individual reprojection distance for each camera

Example

use braid_mvg::{PointWorldFrame, PointWorldFrameWithSumReprojError};
use nalgebra::Point3;

let point = PointWorldFrame { coords: Point3::new(1.0, 2.0, 3.0) };
let errors = vec![0.5, 0.3, 0.8]; // reprojection errors for 3 cameras

let point_with_error = PointWorldFrameWithSumReprojError::new(point, errors);
println!("Mean reprojection error: {:.3}", point_with_error.mean_reproj_dist);

Fields

point: PointWorldFrame<R>

The reconstructed 3D point in world coordinates.

cum_reproj_dist: R

Sum of reprojection distances from all cameras.

mean_reproj_dist: R

Average reprojection distance per camera.

reproj_dists: Vec<R>

Individual reprojection distances for each camera.

Implementations

impl<R: RealField + Copy> PointWorldFrameWithSumReprojError<R>

pub fn new(point: PointWorldFrame<R>, reproj_dists: Vec<R>) -> Self

Create a new point with reprojection error statistics.

This constructor automatically computes the cumulative and mean reprojection errors from the individual camera errors.

Arguments

• point - The 3D point in world coordinates
• reproj_dists - Vector of reprojection distances, one per camera

Returns

A new instance with computed error statistics

Example

use braid_mvg::{PointWorldFrame, PointWorldFrameWithSumReprojError};
use nalgebra::Point3;

let point = PointWorldFrame { coords: Point3::new(0.0, 0.0, 5.0) };
let errors = vec![0.1, 0.2, 0.15]; // errors from 3 cameras

let result = PointWorldFrameWithSumReprojError::new(point, errors);
assert!((result.mean_reproj_dist - 0.15f64).abs() < 1e-10);
assert!((result.cum_reproj_dist - 0.45f64).abs() < 1e-10);

Trait Implementations

impl<R: Clone + RealField + Copy> Clone for PointWorldFrameWithSumReprojError<R>

fn clone(&self) -> PointWorldFrameWithSumReprojError<R>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<R: Debug + RealField + Copy> Debug for PointWorldFrameWithSumReprojError<R>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.