boofcv.alg.sfm.robust

Class GenerateSe2_PlanePtPixel

java.lang.Object

boofcv.alg.sfm.robust.GenerateSe2_PlanePtPixel

All Implemented Interfaces:

ModelGenerator<Se2_F64,PlanePtPixel>

public class GenerateSe2_PlanePtPixel
extends java.lang.Object
implements ModelGenerator<Se2_F64,PlanePtPixel>

Uses MotionTransformPoint to estimate the rigid body motion from key-frame to current-frame in 2D between two observations of a point on the plane.

Constructor Summary

Constructors

Constructor and Description
GenerateSe2_PlanePtPixel()
GenerateSe2_PlanePtPixel(MotionTransformPoint<Se2_F64,Point2D_F64> estimator)

Method Summary

Modifier and Type	Method and Description
boolean	generate(java.util.List<PlanePtPixel> dataSet, Se2_F64 keyToCurr) Creates a list of hypotheses from the set of sample points.
int	getMinimumPoints() The minimum number of points required to fit a data set
void	setExtrinsic(Se3_F64 planeToCamera) Specify extrinsic camera properties

Methods inherited from class java.lang.Object

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

Constructor Detail

GenerateSe2_PlanePtPixel

public GenerateSe2_PlanePtPixel(MotionTransformPoint<Se2_F64,Point2D_F64> estimator)

GenerateSe2_PlanePtPixel

public GenerateSe2_PlanePtPixel()

Method Detail

setExtrinsic

public void setExtrinsic(Se3_F64 planeToCamera)

Specify extrinsic camera properties

Parameters:

planeToCamera - Transform from plane to camera reference frame

generate

public boolean generate(java.util.List<PlanePtPixel> dataSet,
                        Se2_F64 keyToCurr)

Description copied from interface: ModelGenerator

Creates a list of hypotheses from the set of sample points.

Specified by:

generate in interface ModelGenerator<Se2_F64,PlanePtPixel>

Parameters:

dataSet - Set of sample points. Typically the minimum number possible.

keyToCurr - Storage for generated model.

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<Se2_F64,PlanePtPixel>

Returns:

Number of points.