Package boofcv.alg.geo.trifocal

Class RefineThreeViewProjectiveGeometric

java.lang.Object

boofcv.alg.geo.trifocal.RefineThreeViewProjectiveGeometric

public class RefineThreeViewProjectiveGeometric
extends Object

Improves the estimated camera projection matrices for three views, with the first view assumed to be P1 = [I|0]. It's recommended that the observations be normalized to ensure that they are zero mean with a standard deviation of 1, or similar, first. This is known as the Gold Standard algorithm in [1]

• R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
RefineThreeViewProjectiveGeometric()	Creates a constructor using default triangulation and SBA configuration
RefineThreeViewProjectiveGeometric(TriangulateNViewsProjective triangulator, BundleAdjustment<SceneStructureProjective> sba)

Method Summary

Modifier and Type	Method	Description
ConfigConverge	getConverge()
SceneObservations	getObservations()
BundleAdjustment<SceneStructureProjective>	getSba()
SceneStructureProjective	getStructure()
TriangulateNViewsProjective	getTriangulator()
boolean	isScale()
boolean	refine(List<AssociatedTriple> listObs, DMatrixRMaj P2, DMatrixRMaj P3)	Refines P2 and P3 using SBA.
void	setScale(boolean scale)

Methods inherited from class java.lang.Object

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

Constructor Details

RefineThreeViewProjectiveGeometric

public RefineThreeViewProjectiveGeometric()

Creates a constructor using default triangulation and SBA configuration

RefineThreeViewProjectiveGeometric

public RefineThreeViewProjectiveGeometric(TriangulateNViewsProjective triangulator,
 BundleAdjustment<SceneStructureProjective> sba)

Method Details

refine

public boolean refine(List<AssociatedTriple> listObs,
 DMatrixRMaj P2,
 DMatrixRMaj P3)

Refines P2 and P3 using SBA. View 1 is assumed to be P1 = [I|0]

Parameters:

listObs - Observations from the three views

P2 - camera matrix for view 2. modified

P3 - camera matrix for view 3. modified

Returns:

true if successful

getTriangulator

public TriangulateNViewsProjective getTriangulator()

getStructure

public SceneStructureProjective getStructure()

getObservations

public SceneObservations getObservations()

getSba

public BundleAdjustment<SceneStructureProjective> getSba()

isScale

public boolean isScale()

setScale

public void setScale(boolean scale)

getConverge

public ConfigConverge getConverge()