Package boofcv.alg.geo.triangulate

Class Triangulate2ViewsGeometricMetric

java.lang.Object

boofcv.alg.geo.triangulate.Triangulate2ViewsGeometricMetric

public class Triangulate2ViewsGeometricMetric
extends Object

Triangulates two views by finding the point which minimizes the distance between two rays. Optimal in the geometric sense, but does not take in account stereo constraints.

Constructor Summary

Constructors

Constructor	Description
Triangulate2ViewsGeometricMetric()

Method Summary

Modifier and Type	Method	Description
boolean	triangulate(Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point3D_F64 foundInA)	Given two observations of the same point from two views and a known motion between the two views, triangulate the point's 3D position in camera 'a' reference frame.
void	triangulate(Point2D_F64 a, Point2D_F64 b, Se3_F64 a_to_b, Point4D_F64 foundInA)	Same as triangulate(Point2D_F64, Point2D_F64, Se3_F64, Point3D_F64) but in homogenous coordinates and can handle points at infinity.
void	triangulate(Point3D_F64 a, Point3D_F64 b, Se3_F64 a_to_b, Point4D_F64 foundInA)	Triangulates two observations that are 3D pointing vectors and saves the results ad a 3D point in homogenous coordinates.

Methods inherited from class java.lang.Object

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

Constructor Details

Triangulate2ViewsGeometricMetric

public Triangulate2ViewsGeometricMetric()

Method Details

triangulate

public boolean triangulate(Point2D_F64 a,
 Point2D_F64 b,
 Se3_F64 a_to_b,
 Point3D_F64 foundInA)

Given two observations of the same point from two views and a known motion between the two views, triangulate the point's 3D position in camera 'a' reference frame.

Parameters:

a - Observation from camera view 'a' in normalized coordinates. Not modified.

b - Observation from camera view 'b' in normalized coordinates. Not modified.

a_to_b - Transformation from camera view 'a' to 'b' Not modified.

foundInA - (Output) Found 3D position of the point in reference frame 'a'. Modified.

Returns:

true if they intersect at a point that's not at infinity

triangulate

public void triangulate(Point2D_F64 a,
 Point2D_F64 b,
 Se3_F64 a_to_b,
 Point4D_F64 foundInA)

Same as triangulate(Point2D_F64, Point2D_F64, Se3_F64, Point3D_F64) but in homogenous coordinates and can handle points at infinity.

Parameters:

a - Observation from camera view 'a' in normalized coordinates. Not modified.

b - Observation from camera view 'b' in normalized coordinates. Not modified.

a_to_b - Transformation from camera view 'a' to 'b' Not modified.

foundInA - (Output) Found 3D position of the point in reference frame 'a'. Homogenous coordinates. Modified.

triangulate

public void triangulate(Point3D_F64 a,
 Point3D_F64 b,
 Se3_F64 a_to_b,
 Point4D_F64 foundInA)

Triangulates two observations that are 3D pointing vectors and saves the results ad a 3D point in homogenous coordinates.

Parameters:

a - Observation from camera view 'a' as a 3D pointing vector. Not modified.

b - Observation from camera view 'b' as a 3D pointing vector. Not modified.

a_to_b - Transformation from camera view 'a' to 'b' Not modified.

foundInA - (Output) Found 3D position of the point in reference frame 'a'. Homogenous coordinates. Modified.