Package boofcv.alg.geo.pose

Class PnPStereoRefineRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPStereoRefineRodrigues

All Implemented Interfaces:

RefinePnPStereo, ModelFitter<Se3_F64,Stereo2D3D>

public class PnPStereoRefineRodrigues
extends Object
implements RefinePnPStereo

Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera. Rotation is encoded using rodrigues coordinates. Transform between left and right camera is assumed to be known and must be specified by the user. Observations are in normalized image coordinates.

Field Summary

Fields

Modifier and Type	Field	Description
protected UnconstrainedLeastSquares	minimizer

Constructor Summary

Constructors

Constructor	Description
PnPStereoRefineRodrigues(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method	Description
boolean	fitModel(List<Stereo2D3D> obs, Se3_F64 worldToLeft, Se3_F64 refinedWorldToLeft)
double	getFitScore()
void	setLeftToRight(Se3_F64 leftToRight)

Methods inherited from class java.lang.Object

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

Field Details

minimizer

protected UnconstrainedLeastSquares minimizer

Constructor Details

PnPStereoRefineRodrigues

public PnPStereoRefineRodrigues(double convergenceTol,
 int maxIterations)

Method Details

setLeftToRight

public void setLeftToRight(Se3_F64 leftToRight)

Specified by:

setLeftToRight in interface RefinePnPStereo

fitModel

public boolean fitModel(List<Stereo2D3D> obs,
 Se3_F64 worldToLeft,
 Se3_F64 refinedWorldToLeft)

Specified by:

fitModel in interface ModelFitter<Se3_F64,Stereo2D3D>

getFitScore

public double getFitScore()

Specified by:

getFitScore in interface ModelFitter<Se3_F64,Stereo2D3D>