Class TriangulateLinearDLT
- java.lang.Object
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- boofcv.alg.geo.triangulate.TriangulateLinearDLT
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public class TriangulateLinearDLT extends java.lang.ObjectTriangulates the location of a 3D point given two or more views of the point using the Discrete Linear Transform (DLT).
[1] Page 312 in R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
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Constructor Summary
Constructors Constructor and Description TriangulateLinearDLT()
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method and Description voidtriangulate(java.util.List<Point2D_F64> observations, java.util.List<Se3_F64> worldToView, Point3D_F64 found)Given N observations of the same point from two views and a known motion between the two views, triangulate the point's position in camera 'b' reference frame.voidtriangulate(Point2D_F64 a, Point2D_F64 b, Se3_F64 fromAtoB, Point3D_F64 foundInA)Given two observations of the same point from two views and a known motion between the two views, triangulate the point's position in camera 'b' reference frame.
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Method Detail
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triangulate
public void triangulate(java.util.List<Point2D_F64> observations, java.util.List<Se3_F64> worldToView, Point3D_F64 found)
Given N observations of the same point from two views and a known motion between the two views, triangulate the point's position in camera 'b' reference frame.
Modification of [1] to be less generic and use calibrated cameras.
- Parameters:
observations- Observation in each view in normalized coordinates. Not modified.worldToView- Transformations from world to the view. Not modified.found- Output, the found 3D position of the point. Modified.
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triangulate
public void triangulate(Point2D_F64 a, Point2D_F64 b, Se3_F64 fromAtoB, Point3D_F64 foundInA)
Given two observations of the same point from two views and a known motion between the two views, triangulate the point's position in camera 'b' reference frame.
Modification of [1] to be less generic and use calibrated cameras.
- Parameters:
a- Observation 'a' in normalized coordinates. Not modified.b- Observation 'b' in normalized coordinates. Not modified.fromAtoB- Transformation from camera view 'a' to 'b' Not modified.foundInA- Output, the found 3D position of the point. Modified.
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