Class TriangulateRefineEpipolarLS

All Implemented Interfaces:

public class TriangulateRefineEpipolarLS
extends Object
implements RefineTriangulateEpipolar
Nonlinear least squares triangulation.
  • Constructor Details

    • TriangulateRefineEpipolarLS

      public TriangulateRefineEpipolarLS​(double convergenceTol, int maxIterations)
  • Method Details

    • process

      public boolean process​(List<Point2D_F64> observations, List<DMatrixRMaj> fundamentalWorldToCam, Point3D_F64 worldPt, Point3D_F64 refinedPt)
      Description copied from interface: RefineTriangulateEpipolar
      Refines the triangulated point. NOTE: the epipolar matrix is configured such that x2T*F*x1 = 0, where x1 is the observation in the world frame and x2 in the camera frame.
      Specified by:
      process in interface RefineTriangulateEpipolar
      observations - Observations of feature in N views. Pixel or Normalized image coordinates.
      fundamentalWorldToCam - Fundamental or essential matrix for each view. World to Camera.
      worldPt - Initial estimate of point in world coordinates.
      refinedPt - The refined estimated point position.
      if successful or not