ExamplePnP

Documentation of 'boofcv.examples.sfm.ExamplePnP' Java class ExamplePnP

```
public class ExamplePnP
extends java.lang.Object
```
The Perspective-n-Point problem or PnP for short, is a problem where there are N observations of points with known 3D coordinates. The output is the pose of the camera observing the points. The minimal solution requires 3-points but produces multiple solutions. BoofCV provide several solutions to the PnP problem and the example below demonstrates how to use them.

Constructors
Constructor and Description
`ExamplePnP()`

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addOutliers(java.util.List<Point2D3D> observations, int total)` Adds some really bad observations to the mix
`java.util.List<Point2D3D>`	`createObservations(Se3_F64 worldToCamera, int total)` Generates synthetic observations randomly in front of the camera
`Se3_F64`	`estimateNoOutliers(java.util.List<Point2D3D> observations)` Assumes all observations actually match the correct/real 3D point
`Se3_F64`	`estimateOutliers(java.util.List<Point2D3D> observations)` Uses robust techniques to remove outliers
`static void`	`main(java.lang.String[] args)`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

public static void main(java.lang.String[] args)

estimateNoOutliers
```
public Se3_F64 estimateNoOutliers(java.util.List<Point2D3D> observations)
```
Assumes all observations actually match the correct/real 3D point

public Se3_F64 estimateOutliers(java.util.List<Point2D3D> observations)

Uses robust techniques to remove outliers

public java.util.List<Point2D3D> createObservations(Se3_F64 worldToCamera,
                                                    int total)

Generates synthetic observations randomly in front of the camera

public void addOutliers(java.util.List<Point2D3D> observations,
                        int total)

Adds some really bad observations to the mix

Class ExamplePnP