Package boofcv.abst.geo.triangulate

Class TriangulateRefineProjectiveLS

java.lang.Object

boofcv.abst.geo.triangulate.TriangulateRefineProjectiveLS

All Implemented Interfaces:

RefineTriangulateProjective

public class TriangulateRefineProjectiveLS
extends Object
implements RefineTriangulateProjective

Nonlinear least-squares triangulation for projective geometry in homogenous coordinates.

Constructor Summary

Constructors

Constructor	Description
TriangulateRefineProjectiveLS(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method	Description
boolean	process(List<Point2D_F64> observations, List<DMatrixRMaj> cameraMatrices, 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

TriangulateRefineProjectiveLS

public TriangulateRefineProjectiveLS(double convergenceTol,
 int maxIterations)

Method Details

process

public boolean process(List<Point2D_F64> observations,
 List<DMatrixRMaj> cameraMatrices,
 Point4D_F64 worldPt,
 Point4D_F64 refinedPt)

Description copied from interface: RefineTriangulateProjective

Refines the triangulated point.

Specified by:

process in interface RefineTriangulateProjective

Parameters:

observations - Observations of feature in N views. Pixel coordinates.

cameraMatrices - Camera matrices for each view

worldPt - Initial estimate of point in world coordinates.

refinedPt - The refined estimated point position.

Returns:

if successful or not