Package boofcv.alg.geo.pose

Interface Summary

Interface	Description
P3PLineDistance	A related problem to the full P3P problem is to estimate the distance between the camera center and each of the 3 points being viewed.
RefinePnPStereo	Refines a pose estimate given a set of stereo observations and associated 3D point in world coordinates.

Class Summary

Class	Description
P3PFinsterwalder	Solves for the 3 unknown distances between camera center and 3 observed points by finding a root of a cubic polynomial and the roots of two quadratic polynomials.
P3PGrunert	Solves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert.
PnPDistanceReprojectionSq	Computes the reprojection error squared for a given motion and Point2D3D.
PnPJacobianRodrigues	Computes the Jacobian of the error function in PnPResidualReprojection.
PnPLepetitEPnP	Implementation of the EPnP algorithm from [1] for solving the PnP problem when N ≥ 5 for the general case and N ≥ 4 for planar data (see note below).
PnPResidualReprojection	Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
PnPRodriguesCodec	Encoding an decoding a rotation and translation where the rotation is encoded as a 3-vector Rodrigues coordinate.
PnPStereoDistanceReprojectionSq	Computes sum of reprojection error squared in pixels for a pair of stereo observations.
PnPStereoEstimator	Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm.
PnPStereoJacobianRodrigues	Computes the Jacobian of the error function in PnPResidualReprojection.
PnPStereoRefineRodrigues	Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera.
PnPStereoResidualReprojection	Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
PointDistance3	Provides the distance each point is from the camera center.
PoseFromPairLinear6	Estimates the camera motion using linear algebra given a set of N associated point observations and the depth (z-coordinate) of each object, where N ≥ 6.
PositionFromPairLinear2	Given two views of N objects and the known rotation, estimate the translation.
Relinearlize	Used in case 4 of EPnP.
Se3ToStereoPoseCodec	Allows a ModelCodec for Se3_F64 to be used by StereoPose.
UtilLepetitEPnP	Various utility functions for PnPLepetitEPnP.