Package boofcv.alg.geo.triangulate
Class Triangulate2ViewsGeometricMetric
java.lang.Object
boofcv.alg.geo.triangulate.Triangulate2ViewsGeometricMetric
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

Method Summary
Modifier and TypeMethodDescriptionboolean
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 astriangulate(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.

Constructor Details

Triangulate2ViewsGeometricMetric
public Triangulate2ViewsGeometricMetric()


Method Details

triangulate
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
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
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.
