Package boofcv.alg.geo.selfcalib

Class ResolveSignAmbiguityPositiveDepth

java.lang.Object
boofcv.alg.geo.selfcalib.ResolveSignAmbiguityPositiveDepth
All Implemented Interfaces:
VerbosePrint
public class ResolveSignAmbiguityPositiveDepth extends Object implements VerbosePrint
There's a sign ambiguity which flips the translation vector for several self calibration functions. This uses the fact that for an observation to be seen it needs to be in front of the camera.

  • Field Details

    • triangulator

      public TriangulateNViewsMetricH triangulator
      Triangulation for n-view case

    • signChanged

      public boolean signChanged
      Indicates if the sign was changed

    • bestInvalid

      public int bestInvalid
      Number of invalid in best hypothesis

  • Constructor Details

    • ResolveSignAmbiguityPositiveDepth

      public ResolveSignAmbiguityPositiveDepth()

  • Method Details

    • process

      public void process(List<AssociatedTuple> observations, MetricCameras views)
      Processes the results and observations to fix the sign
      Parameters:
      observations - (input) Observations in pixels
      views - (input/output) the current solution and modified to have the correct sign on output

    • process

      public void process(List<AssociatedTriple> observations, MetricCameraTriple result)
      Processes the results and observations to fix the sign
      Parameters:
      observations - (input) Observations in pixels
      result - (input/output) the current solution and modified to have the correct sign on output

    • setVerbose

      public void setVerbose(@Nullable @Nullable PrintStream out, @Nullable @Nullable Set<String> configuration)
      Specified by:
      setVerbose in interface VerbosePrint