Class TrifocalAlgebraicPoint7

java.lang.Object
boofcv.alg.geo.trifocal.TrifocalLinearPoint7
boofcv.alg.geo.trifocal.TrifocalAlgebraicPoint7

public class TrifocalAlgebraicPoint7
extends TrifocalLinearPoint7

Initially computes the trifocal tensor using the linear method TrifocalLinearPoint7, but then iteratively refines the solution to minimize algebraic error by adjusting the two epipoles. The solution will enforce all the constraints and be geometrically valid. See page 395 in [1].

Note: This works with planes!

References:

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

    • TrifocalAlgebraicPoint7

      public TrifocalAlgebraicPoint7​(UnconstrainedLeastSquares optimizer, int maxIterations, double ftol, double gtol)
      Configures optimization algorithms
      Parameters:
      optimizer - Which least squares minimizer should be used.
      maxIterations - Maximum number of iterations it will optimize for
      ftol - Convergence tolerance. See UnconstrainedLeastSquares for details.
      gtol - Convergence tolerance. See UnconstrainedLeastSquares for details.
  • Method Details

    • process

      public boolean process​(List<AssociatedTriple> observations, TrifocalTensor solution)
      Description copied from class: TrifocalLinearPoint7
      Estimates the trifocal tensor given the set of observations
      Overrides:
      process in class TrifocalLinearPoint7
      Parameters:
      observations - Set of observations
      solution - Output: Where the solution is written to
      Returns:
      true if successful and false if it fails