PositiveDepthConstraintCheckHPointing (BoofCV (1.1.4))

java.lang.Object

boofcv.alg.geo.PositiveDepthConstraintCheckHPointing

public class PositiveDepthConstraintCheckHPointing extends Object

Checks positive depth constraint given observations as pointing vectors.

Triangulation is done in homogenous coordinates so that points at infinity can be handled

COORDINATE SYSTEM: Right handed coordinate system with +z is pointing along the camera's optical axis

Constructor Summary

Constructors

Constructor

Description

PositiveDepthConstraintCheckHPointing()

PositiveDepthConstraintCheckHPointing(Triangulate2PointingMetricH triangulate)
Method Summary

Modifier and Type

Method

Description

boolean

checkConstraint(Point3D_F64 viewA, Point3D_F64 viewB, Se3_F64 fromAtoB)

Checks to see if a single point meets the constraint.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- PositiveDepthConstraintCheckHPointing
  
  public PositiveDepthConstraintCheckHPointing(Triangulate2PointingMetricH triangulate)
- PositiveDepthConstraintCheckHPointing
  
  public PositiveDepthConstraintCheckHPointing()
Method Details
- checkConstraint
  
  public boolean checkConstraint(Point3D_F64 viewA, Point3D_F64 viewB, Se3_F64 fromAtoB)
  
  Checks to see if a single point meets the constraint.
  
  Parameters:
  
  viewA - View of the 3D point from the first camera. Pointing vector coordinates.
  
  viewB - View of the 3D point from the second camera. Pointing vector coordinates.
  
  fromAtoB - Transform from the B to A camera frame.
  
  Returns:
  
  If the triangulated point appears in front of both cameras.