Package boofcv.alg.geo.pose

Class PRnPDirectLinearTransform

java.lang.Object

boofcv.alg.geo.pose.PRnPDirectLinearTransform

public class PRnPDirectLinearTransform
extends Object

Estimates a projective camera given N points, i.e. Projective N Point (PRnP). This is the projective equivalent of the perspective N Point (PnP) problem. Each point consists of a 2D pixel observations and 3D homogenous coordinate. Pixels are normalized to have zero means and standard deviation of 1. 3D points are scaled to have a f-norm of 1. See [1] for details. Each point provides 2 linearly independent equations, requiring a minimum of 6 points. More points are allowed.

WARNING: Planar surfaces are critical and it will fail on those.

[1] Peter Abeles, "Scene Reconstruction Notes: BoofCV Technical Report" 2019

Field Summary

Fields

Modifier and Type	Field	Description
protected NormalizationPoint2D	N1
SolveNullSpace<DMatrixRMaj>	solverNullspace

Constructor Summary

Constructors

Constructor	Description
PRnPDirectLinearTransform()

Method Summary

Modifier and Type	Method	Description
int	getMinimumPoints()
boolean	isNormalize3D()
boolean	process(List<Point4D_F64> worldPts, List<Point2D_F64> observed, DMatrixRMaj solutionModel)	Computes projective camera matrix.
void	setNormalize3D(boolean normalize3D)

Methods inherited from class java.lang.Object

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

Field Details

N1

protected NormalizationPoint2D N1

solverNullspace

public SolveNullSpace<DMatrixRMaj> solverNullspace

Constructor Details

PRnPDirectLinearTransform

public PRnPDirectLinearTransform()

Method Details

process

public boolean process(List<Point4D_F64> worldPts,
 List<Point2D_F64> observed,
 DMatrixRMaj solutionModel)

Computes projective camera matrix.

Parameters:

worldPts - points in homogenous 3D coordinates in world frame. Might be modified.

observed - pixel coordinates of points. not modified

solutionModel - (Output) 3x4 camera matrix

Returns:

true if succesfull

getMinimumPoints

public int getMinimumPoints()

isNormalize3D

public boolean isNormalize3D()

setNormalize3D

public void setNormalize3D(boolean normalize3D)