public class PositionFromPairLinear2 extends Object
Given two views of N objects and the known rotation, estimate the translation. A linear system is constructed from the equations below and solved for. A minimum of two point observations is required since rotation is already known. This high level characteristics of this algorithm was stated in , but the mathematics were not described or sketched.
λx = R*X + T 0 = hat(x)*R*X + hat(x)*T hat(x)*T = -hat(x)*R*Xwhere hat(x) is the cross product matrix of the homogeneous (x,y,1) vector, R is a rotation matrix, T is the known translation, and X is the known point in 3D.
 Tardif, J.-P., Pavlidis, Y., and Daniilidis, K. "Monocular visual odometry in urban environments using an omnidirectional camera," IROS 2008
Constructors Constructor Description
processComputes the translation given two or more feature observations and the known rotation
R- Rotation matrix. World to view.
worldPts- Location of features in world coordinates.
observed- Observations of point in current view. Normalized coordinates.
- true if it succeeded.
getTpublic Vector3D_F64 getT()