Package boofcv.abst.geo.triangulate

Class TriangulateRefineMetricHgLS

java.lang.Object

boofcv.abst.geo.triangulate.TriangulateRefineMetricHgLS

All Implemented Interfaces:

RefineTriangulateMetricH

public class TriangulateRefineMetricHgLS
extends Object
implements RefineTriangulateMetricH

Nonlinear least-squares triangulation.

Constructor Summary

Constructors

Constructor	Description
TriangulateRefineMetricHgLS(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method	Description
boolean	process(List<Point2D_F64> observations, List<Se3_F64> listWorldToView, Point4D_F64 worldPt, Point4D_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

TriangulateRefineMetricHgLS

public TriangulateRefineMetricHgLS(double convergenceTol,
 int maxIterations)

Method Details

process

public boolean process(List<Point2D_F64> observations,
 List<Se3_F64> listWorldToView,
 Point4D_F64 worldPt,
 Point4D_F64 refinedPt)

Description copied from interface: RefineTriangulateMetricH

Refines the triangulated point.

Specified by:

process in interface RefineTriangulateMetricH

Parameters:

observations - Observations of feature in N views. Normalized image coordinates.

listWorldToView - Coordinate transforms for each view. World to View.

worldPt - Initial estimate of point in world coordinates. Homogenous.

refinedPt - The refined estimated point position. Homogenous.

Returns:

if successful or not