boofcv.alg.geo.pose

Class PositionFromPairLinear2

java.lang.Object

boofcv.alg.geo.pose.PositionFromPairLinear2

public class PositionFromPairLinear2
extends java.lang.Object

Given two views of N objects and the known rotation, estimate the translation. A linear system is constructed from the equations below and solved for. A minimum of two point observations is required since rotation is already known. This high level characteristics of this algorithm was stated in [1], but the mathematics were not described or sketched.

Derivation:

 λx = R*X + T
 0 = hat(x)*R*X + hat(x)*T
 hat(x)*T = -hat(x)*R*X
 

where hat(x) is the cross product matrix of the homogeneous (x,y,1) vector, R is a rotation matrix, T is the known translation, and X is the known point in 3D.

[1] Tardif, J.-P., Pavlidis, Y., and Daniilidis, K. "Monocular visual odometry in urban environments using an omnidirectional camera," IROS 2008

Constructor Summary

Constructors

Constructor and Description
PositionFromPairLinear2()

Method Summary

Modifier and Type	Method and Description
Vector3D_F64	getT()
boolean	process(org.ejml.data.DenseMatrix64F R, java.util.List<Point3D_F64> worldPts, java.util.List<Point2D_F64> observed) Computes the translation given two or more feature observations and the known rotation

Methods inherited from class java.lang.Object

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

Constructor Detail

PositionFromPairLinear2

public PositionFromPairLinear2()

Method Detail

process

public boolean process(org.ejml.data.DenseMatrix64F R,
                       java.util.List<Point3D_F64> worldPts,
                       java.util.List<Point2D_F64> observed)

Computes the translation given two or more feature observations and the known rotation

Parameters:

R - Rotation matrix. World to view.

worldPts - Location of features in world coordinates.

observed - Observations of point in current view. Normalized coordinates.

Returns:

true if it succeeded.

getT

public Vector3D_F64 getT()