boofcv.abst.geo.pose

Class PnPRefineRodrigues

java.lang.Object

boofcv.abst.geo.pose.PnPRefineRodrigues

All Implemented Interfaces:

RefinePnP, ModelFitter<Se3_F64,Point2D3D>

public class PnPRefineRodrigues
extends java.lang.Object
implements RefinePnP

Minimizes the projection residual error in a calibrated camera for a pose estimate. Rotation is encoded using rodrigues coordinates.

Constructor Summary

Constructors

Constructor and Description
PnPRefineRodrigues(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method and Description
boolean	fitModel(java.util.List<Point2D3D> obs, Se3_F64 worldToCamera, Se3_F64 refinedWorldToCamera) Fits a model to a set of points.

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPRefineRodrigues

public PnPRefineRodrigues(double convergenceTol,
                          int maxIterations)

Method Detail

fitModel

public boolean fitModel(java.util.List<Point2D3D> obs,
                        Se3_F64 worldToCamera,
                        Se3_F64 refinedWorldToCamera)

Description copied from interface: ModelFitter

Fits a model to a set of points. Note that initial and found can be the same instance.

Specified by:

fitModel in interface ModelFitter<Se3_F64,Point2D3D>

Parameters:

obs - Set of points the model is being fit to.

worldToCamera - Initial hypothesis

refinedWorldToCamera - The found model. Can be the same instance as initial.

Returns:

true if a model was found and false if one was not.