Package boofcv.abst.geo.triangulate

Class TriangulateRefineMetricLS

java.lang.Object

boofcv.abst.geo.triangulate.TriangulateRefineMetricLS

All Implemented Interfaces:

RefineTriangulateMetric

public class TriangulateRefineMetricLS
extends Object
implements RefineTriangulateMetric

Nonlinear least-squares triangulation.

Constructor Summary

Constructors

Constructor	Description
TriangulateRefineMetricLS(double convergenceTol, int maxIterations)

Method Summary

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

TriangulateRefineMetricLS

public TriangulateRefineMetricLS(double convergenceTol,
 int maxIterations)

Method Details

process

public boolean process(List<Point2D_F64> observations,
 List<Se3_F64> listWorldToView,
 Point3D_F64 worldPt,
 Point3D_F64 refinedPt)

Description copied from interface: RefineTriangulateMetric

Refines the triangulated point.

Specified by:

process in interface RefineTriangulateMetric

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.

refinedPt - The refined estimated point position.

Returns:

if successful or not