boofcv.alg.geo.pose

Class PnPStereoRefineRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPStereoRefineRodrigues

All Implemented Interfaces:

RefinePnPStereo, ModelFitter<Se3_F64,Stereo2D3D>

public class PnPStereoRefineRodrigues
extends java.lang.Object
implements RefinePnPStereo

Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera. Rotation is encoded using rodrigues coordinates. Transform between left and right camera is assumed to be known and must be specified by the user. Observations are in normalized image coordinates.

Constructor Summary

Constructors

Constructor and Description
PnPStereoRefineRodrigues(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method and Description
boolean	fitModel(java.util.List<Stereo2D3D> obs, Se3_F64 worldToLeft, Se3_F64 refinedWorldToLeft) Fits a model to a set of points.
void	setLeftToRight(Se3_F64 leftToRight)

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPStereoRefineRodrigues

public PnPStereoRefineRodrigues(double convergenceTol,
                                int maxIterations)

Method Detail

setLeftToRight

public void setLeftToRight(Se3_F64 leftToRight)

Specified by:

setLeftToRight in interface RefinePnPStereo

fitModel

public boolean fitModel(java.util.List<Stereo2D3D> obs,
                        Se3_F64 worldToLeft,
                        Se3_F64 refinedWorldToLeft)

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,Stereo2D3D>

Parameters:

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

worldToLeft - Initial hypothesis

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

Returns:

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