- All Implemented Interfaces:
public class P3PGrunert extends Object implements P3PLineDistance
Solves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert. This implementation is based off the discussion in . There are up to four solutions.
P3PLineDistance for a more detailed problem description.
 Haralick, Robert M. and Lee, Chung-Nan and Ottenberg, Karsten and Nolle, Michael, "Review and analysis of solutions of the three point perspective pose estimation problem" Int. J. Comput. Vision, 1994 vol 13, no. 13, pages 331-356
Constructors Constructor Description
PolynomialRoots rootFinder)(Specifies the polynomial root finder.
Modifier and Type Method Description
Point2D_F64 a, Point2D_F64 b)(
()Returns a set of solutions.
Point2D_F64 obs1, Point2D_F64 obs2, Point2D_F64 obs3, double length23, double length13, double length12)(Solve for the distance between the camera's origin and each of the 3 points in 3D space.
P3PGrunertpublic P3PGrunert(PolynomialRoots rootFinder)Specifies the polynomial root finder.
rootFinder- Root finder for real 4th order roots.
processpublic boolean process(Point2D_F64 obs1, Point2D_F64 obs2, Point2D_F64 obs3, double length23, double length13, double length12)Description copied from interface:
P3PLineDistanceSolve for the distance between the camera's origin and each of the 3 points in 3D space.
- Specified by:
obs1- Observation of P1 in normalized image coordinates
obs2- Observation of P2 in normalized image coordinates
obs3- Observation of P3 in normalized image coordinates
length23- Distance between points P2 and P3
length13- Distance between points P1 and P3
length12- Distance between points P1 and P2
- true if successful or false if it failed to generate any solutions
pow2public static double pow2(double a)
getSolutionsDescription copied from interface:
P3PLineDistanceReturns a set of solutions. Each solution contains the distance to the respective point.