Package boofcv.alg.geo.robust

Class SelectBestStereoTransformHPointing

java.lang.Object

boofcv.alg.geo.robust.SelectBestStereoTransformHPointing

public class SelectBestStereoTransformHPointing
extends Object

Given a set of observations in point vectors and a set of possible stereo transforms select the best view. Best in this case means meeting the positive depth constraint in both cameras

Constructor Summary

Constructors

Constructor	Description
SelectBestStereoTransformHPointing()
SelectBestStereoTransformHPointing(Triangulate2PointingMetricH triangulate)	Specifies how the essential matrix is computed

Method Summary

Modifier and Type	Method	Description
void	select(List<Se3_F64> candidatesAtoB, List<AssociatedPair3D> observations, Se3_F64 model)	Selects the transform which describes a view where observations appear in front of the camera the most

Methods inherited from class java.lang.Object

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

Constructor Details

SelectBestStereoTransformHPointing

public SelectBestStereoTransformHPointing(Triangulate2PointingMetricH triangulate)

Specifies how the essential matrix is computed

SelectBestStereoTransformHPointing

public SelectBestStereoTransformHPointing()

Method Details

select

public void select(List<Se3_F64> candidatesAtoB,
 List<AssociatedPair3D> observations,
 Se3_F64 model)

Selects the transform which describes a view where observations appear in front of the camera the most

Parameters:

candidatesAtoB - List of possible transforms

observations - observations in both stereo cameras in normalized image coordinates

model - (Output) the selected transform from a to b