Package boofcv.abst.geo.triangulate

Class TriangulateRefineEpipolarLS

java.lang.Object

boofcv.abst.geo.triangulate.TriangulateRefineEpipolarLS

All Implemented Interfaces:

RefineTriangulateEpipolar

public class TriangulateRefineEpipolarLS
extends Object
implements RefineTriangulateEpipolar

Nonlinear least squares triangulation.

Constructor Summary

Constructors

Constructor	Description
TriangulateRefineEpipolarLS(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method	Description
boolean	process(List<Point2D_F64> observations, List<DMatrixRMaj> fundamentalWorldToCam, Point3D_F64 worldPt, Point3D_F64 refinedPt)	Refines the triangulated point.

Methods inherited from class java.lang.Object

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

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 x2^T*F*x1 = 0, where x1 is the observation in the world frame and x2 in the camera frame.

Specified by:

process in interface RefineTriangulateEpipolar

Parameters:

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.

Returns:

if successful or not