Package boofcv.alg.geo.pose

  • Interface Summary
    Interface Description
    P3PLineDistance
    A related problem to the full P3P problem is to estimate the distance between the camera center and each of the 3 points being viewed.
    RefinePnPStereo
    Refines a pose estimate given a set of stereo observations and associated 3D point in world coordinates.
  • Class Summary
    Class Description
    CompatibleProjectiveHomography
    Algorithms for finding a 4x4 homography which can convert two camera matrices of the same view but differ in only the projective ambiguity.
    P3PFinsterwalder
    Solves for the 3 unknown distances between camera center and 3 observed points by finding a root of a cubic polynomial and the roots of two quadratic polynomials.
    P3PGrunert
    Solves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert.
    PnPDistanceReprojectionSq
    Computes the reprojection error squared for a given motion and Point2D3D.
    PnPInfinitesimalPlanePoseEstimation
    A plane based pose estimation algorithm [1].
    PnPJacobianRodrigues
    Computes the Jacobian of the error function in PnPResidualReprojection.
    PnPLepetitEPnP
    Implementation of the EPnP algorithm from [1] for solving the PnP problem when N ≥ 5 for the general case and N ≥ 4 for planar data (see note below).
    PnPResidualReprojection
    Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
    PnPRodriguesCodec
    Encoding an decoding a rotation and translation where the rotation is encoded as a 3-vector Rodrigues coordinate.
    PnPStereoDistanceReprojectionSq
    Computes sum of reprojection error squared in pixels for a pair of stereo observations.
    PnPStereoEstimator
    Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm.
    PnPStereoJacobianRodrigues
    Computes the Jacobian of the error function in PnPResidualReprojection.
    PnPStereoRefineRodrigues
    Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera.
    PnPStereoResidualReprojection
    Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
    PointDistance3
    Provides the distance each point is from the camera center.
    PoseFromPairLinear6
    Estimates the camera motion using linear algebra given a set of N associated point observations and the depth (z-coordinate) of each object, where N ≥ 6.
    PositionFromPairLinear2
    Given two views of N objects and the known rotation, estimate the translation.
    PRnPDirectLinearTransform
    Estimates a projective camera given N points, i.e.
    Relinearlize
    Used in case 4 of EPnP.
    Se3ToStereoPoseCodec
    Allows a ModelCodec for Se3_F64 to be used by StereoPose.
    UtilLepetitEPnP
    Various utility functions for PnPLepetitEPnP.