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 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.