boofcv.alg.geo.pose

Class PnPStereoRefineRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPStereoRefineRodrigues

All Implemented Interfaces:

RefinePnPStereo, org.ddogleg.fitting.modelset.ModelFitter<georegression.struct.se.Se3_F64,Stereo2D3D>

public class PnPStereoRefineRodrigues
extends java.lang.Object
implements RefinePnPStereo

Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera. Rotation is encoded using rodrigues coordinates. Transform between left and right camera is assumed to be known and must be specified by the user. Observations are in normalized image coordinates.

Field Summary

Fields

Modifier and Type	Field and Description
protected org.ddogleg.optimization.UnconstrainedLeastSquares	minimizer

Constructor Summary

Constructors

Constructor and Description
PnPStereoRefineRodrigues(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method and Description
boolean	fitModel(java.util.List<Stereo2D3D> obs, georegression.struct.se.Se3_F64 worldToLeft, georegression.struct.se.Se3_F64 refinedWorldToLeft)
void	setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)

Methods inherited from class java.lang.Object

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

Field Detail

minimizer

protected org.ddogleg.optimization.UnconstrainedLeastSquares minimizer

Constructor Detail

PnPStereoRefineRodrigues

public PnPStereoRefineRodrigues(double convergenceTol,
                                int maxIterations)

Method Detail

setLeftToRight

public void setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)

Specified by:

setLeftToRight in interface RefinePnPStereo

fitModel

public boolean fitModel(java.util.List<Stereo2D3D> obs,
                        georegression.struct.se.Se3_F64 worldToLeft,
                        georegression.struct.se.Se3_F64 refinedWorldToLeft)

Specified by:

fitModel in interface org.ddogleg.fitting.modelset.ModelFitter<georegression.struct.se.Se3_F64,Stereo2D3D>