Class 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.