boofcv.abst.geo.triangulate

Class LeastSquaresTriangulateEpipolar

java.lang.Object

boofcv.abst.geo.triangulate.LeastSquaresTriangulateEpipolar

All Implemented Interfaces:

RefineTriangulationEpipolar

public class LeastSquaresTriangulateEpipolar
extends java.lang.Object
implements RefineTriangulationEpipolar

Nonlinear least squares triangulation.

Constructor Summary

Constructors

Constructor and Description
LeastSquaresTriangulateEpipolar(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method and Description
boolean	process(java.util.List<Point2D_F64> observations, java.util.List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam, Point3D_F64 worldPt, Point3D_F64 refinedPt) Refines the triangulated point.

Methods inherited from class java.lang.Object

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

Constructor Detail

LeastSquaresTriangulateEpipolar

public LeastSquaresTriangulateEpipolar(double convergenceTol,
                                       int maxIterations)

Method Detail

process

public boolean process(java.util.List<Point2D_F64> observations,
                       java.util.List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam,
                       Point3D_F64 worldPt,
                       Point3D_F64 refinedPt)

Description copied from interface: RefineTriangulationEpipolar

Refines the triangulated point. NOTE: the epipolar matrix is configured such that x2^T*F*x1 = 0, where x1 is the observation in the world frame and x2 in the camera frame.

Specified by:

process in interface RefineTriangulationEpipolar

Parameters:

observations - Observations of feature in N views. Pixel or Normalized image coordinates.

fundamentalWorldToCam - Fundamental or essential matrix for each view. World to Camera.

worldPt - Initial estimate of point in world coordinates.

refinedPt - The refined estimated point position.

Returns:

if successful or not