Package boofcv.alg.geo.trifocal

Class ResolveThreeViewScaleAmbiguity

java.lang.Object

boofcv.alg.geo.trifocal.ResolveThreeViewScaleAmbiguity

public class ResolveThreeViewScaleAmbiguity
extends Object

Give a three views with the pose known up to a scale ambiguity for the three views, resolve the scale ambiguity. View-1 is assumed to be the origin. The scale of both views is adjusted so that the one with the largest norm is set to one.

Field Summary

Fields

Modifier and Type	Field	Description
protected DogArray_F64	scales
protected Triangulate2ViewsMetricH	triangulate
protected Point4D_F64	X2
protected Point4D_F64	X3

Constructor Summary

Constructors

Constructor	Description
ResolveThreeViewScaleAmbiguity()
ResolveThreeViewScaleAmbiguity(Triangulate2ViewsMetricH triangulate)

Method Summary

Modifier and Type	Method	Description
boolean	process(List<AssociatedTriple> triple, Se3_F64 world_to_view2, Se3_F64 world_to_view3)	Solves for scale ambiguity give the transforms to view-2 and view-3

Methods inherited from class java.lang.Object

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

Field Details

triangulate

protected Triangulate2ViewsMetricH triangulate

scales

protected DogArray_F64 scales

X2

protected Point4D_F64 X2

X3

protected Point4D_F64 X3

Constructor Details

ResolveThreeViewScaleAmbiguity

public ResolveThreeViewScaleAmbiguity(Triangulate2ViewsMetricH triangulate)

ResolveThreeViewScaleAmbiguity

public ResolveThreeViewScaleAmbiguity()

Method Details

process

public boolean process(List<AssociatedTriple> triple,
 Se3_F64 world_to_view2,
 Se3_F64 world_to_view3)

Solves for scale ambiguity give the transforms to view-2 and view-3

Parameters:

triple - (Input) Observations in normalized image coordinates for the 3-views.

world_to_view2 - (Input/Output) transform from world to view-2

world_to_view3 - (Input/Output) transform from world to view-3