boofcv.alg.geo.robust

Class Se3FromEssentialGenerator

java.lang.Object

boofcv.alg.geo.robust.Se3FromEssentialGenerator

All Implemented Interfaces:

ModelGenerator<Se3_F64,AssociatedPair>

public class Se3FromEssentialGenerator
extends java.lang.Object
implements ModelGenerator<Se3_F64,AssociatedPair>

Estimates the motion between two views up to a scale factor by computing an essential matrix, decomposing it, and using the positive depth constraint to select the best candidate. The returned motion is the motion from the first camera frame into the second camera frame.

Constructor Summary

Constructors

Constructor and Description
Se3FromEssentialGenerator(Estimate1ofEpipolar computeEssential, TriangulateTwoViewsCalibrated triangulate) Specifies how the essential matrix is computed

Method Summary

Modifier and Type	Method and Description
boolean	generate(java.util.List<AssociatedPair> dataSet, Se3_F64 model) Computes the camera motion from the set of observations.
int	getMinimumPoints() The minimum number of points required to fit a data set

Methods inherited from class java.lang.Object

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

Constructor Detail

Se3FromEssentialGenerator

public Se3FromEssentialGenerator(Estimate1ofEpipolar computeEssential,
                                 TriangulateTwoViewsCalibrated triangulate)

Specifies how the essential matrix is computed

Parameters:

computeEssential - Algorithm for computing the essential matrix

Method Detail

generate

public boolean generate(java.util.List<AssociatedPair> dataSet,
                        Se3_F64 model)

Computes the camera motion from the set of observations. The motion is from the first into the second camera frame.

Specified by:

generate in interface ModelGenerator<Se3_F64,AssociatedPair>

Parameters:

dataSet - Associated pairs in normalized camera coordinates.

model - The best pose according to the positive depth constraint.

Returns:

true if a model was generated, otherwise false is none were

getMinimumPoints

public int getMinimumPoints()

Description copied from interface: ModelGenerator

The minimum number of points required to fit a data set

Specified by:

getMinimumPoints in interface ModelGenerator<Se3_F64,AssociatedPair>

Returns:

Number of points.