Package boofcv.alg.geo.pose

Class P3PGrunert

java.lang.Object

boofcv.alg.geo.pose.P3PGrunert

All Implemented Interfaces:

P3PLineDistance

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 [1]. There are up to four solutions.

See P3PLineDistance for a more detailed problem description.

[1] 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

Constructor Summary

Constructors

Constructor	Description
P3PGrunert(PolynomialRoots rootFinder)	Specifies the polynomial root finder.

Method Summary

Modifier and Type	Method	Description
static double	computeCosine(Point2D_F64 a, Point2D_F64 b)
DogArray<PointDistance3>	getSolutions()	Returns a set of solutions.
static double	pow2(double a)
boolean	process(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.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

P3PGrunert

public P3PGrunert(PolynomialRoots rootFinder)

Specifies the polynomial root finder.

Parameters:

rootFinder - Root finder for real 4th order roots.

Method Details

process

public boolean process(Point2D_F64 obs1,
 Point2D_F64 obs2,
 Point2D_F64 obs3,
 double length23,
 double length13,
 double length12)

Description copied from interface: P3PLineDistance

Solve for the distance between the camera's origin and each of the 3 points in 3D space.

Specified by:

process in interface P3PLineDistance

Parameters:

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

Returns:

true if successful or false if it failed to generate any solutions

pow2

public static double pow2(double a)

computeCosine

public static double computeCosine(Point2D_F64 a,
 Point2D_F64 b)

getSolutions

public DogArray<PointDistance3> getSolutions()

Description copied from interface: P3PLineDistance

Returns a set of solutions. Each solution contains the distance to the respective point.

Specified by:

getSolutions in interface P3PLineDistance

Returns:

List of solutions.