Package boofcv.alg.geo.pose

Class PnPStereoEstimator

java.lang.Object

boofcv.alg.geo.pose.PnPStereoEstimator

All Implemented Interfaces:

GeoModelEstimator1<Se3_F64,Stereo2D3D>

public class PnPStereoEstimator
extends Object
implements GeoModelEstimator1<Se3_F64,Stereo2D3D>

Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm. Observations from the left camera are used to solve the PnP problem while observations from the right camera are used to select the best solution if its ambiguous. Observations past the minimum number are used just for selecting the best hypothesis.

Constructor Summary

Constructors

Constructor	Description
PnPStereoEstimator(GeoModelEstimatorN<Se3_F64,Point2D3D> alg, DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceLeft, DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceRight, int extraForTest)

Method Summary

Modifier and Type	Method	Description
int	getMinimumPoints()	Minimum number of points required to estimate the model.
boolean	process(List<Stereo2D3D> points, Se3_F64 estimatedModel)	Estimates the model given a set of observations.
void	setLeftToRight(Se3_F64 leftToRight)
void	setLeftToRightReference(Se3_F64 leftToRight)
void	setStereoParameters(StereoParameters param)

Methods inherited from class java.lang.Object

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

Constructor Details

PnPStereoEstimator

public PnPStereoEstimator(GeoModelEstimatorN<Se3_F64,Point2D3D> alg,
 DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceLeft,
 DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceRight,
 int extraForTest)

Parameters:

extraForTest - Right camera is used so zero is the minimum number

Method Details

setLeftToRight

public void setLeftToRight(Se3_F64 leftToRight)

setLeftToRightReference

public void setLeftToRightReference(Se3_F64 leftToRight)

process

public boolean process(List<Stereo2D3D> points,
 Se3_F64 estimatedModel)

Description copied from interface: GeoModelEstimator1

Estimates the model given a set of observations.

Specified by:

process in interface GeoModelEstimator1<Se3_F64,Stereo2D3D>

Parameters:

points - Input: Set of observations. Not modified.

estimatedModel - Output: Storage for the estimated model. Modified.

Returns:

true if successful

setStereoParameters

public void setStereoParameters(StereoParameters param)

getMinimumPoints

public int getMinimumPoints()

Description copied from interface: GeoModelEstimator1

Minimum number of points required to estimate the model.

Specified by:

getMinimumPoints in interface GeoModelEstimator1<Se3_F64,Stereo2D3D>

Returns:

Minimum number of points.