Package boofcv.alg.geo.pose

Class PnPStereoEstimator

  • All Implemented Interfaces:
    boofcv.struct.geo.GeoModelEstimator1<georegression.struct.se.Se3_F64,​Stereo2D3D>
    public class PnPStereoEstimator
extends java.lang.Object
implements boofcv.struct.geo.GeoModelEstimator1<georegression.struct.se.Se3_F64,​Stereo2D3D>
    Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm. Observations from the left camera are used to solve the PnP problem while observations from the right camera are used to select the best solution if its ambiguous. Observations past the minimum number are used just for selecting the best hypothesis.

    • Constructor Summary

      Constructors 
      Constructor Description
      PnPStereoEstimator​(boofcv.struct.geo.GeoModelEstimatorN<georegression.struct.se.Se3_F64,​boofcv.struct.geo.Point2D3D> alg, org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,​boofcv.struct.geo.Point2D3D> distance, int extraForTest)  

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      int getMinimumPoints()  
      boolean process​(java.util.List<Stereo2D3D> points, georegression.struct.se.Se3_F64 estimatedModel)  
      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

    • Constructor Detail

      • PnPStereoEstimator

        public PnPStereoEstimator​(boofcv.struct.geo.GeoModelEstimatorN<georegression.struct.se.Se3_F64,​boofcv.struct.geo.Point2D3D> alg,
                          org.ddogleg.fitting.modelset.DistanceFromModel<georegression.struct.se.Se3_F64,​boofcv.struct.geo.Point2D3D> distance,
                          int extraForTest)
        Parameters:
        alg -
        distance -
        extraForTest - Right camera is used so zero is the minimum number

    • Method Detail

      • setLeftToRight

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

      • process

        public boolean process​(java.util.List<Stereo2D3D> points,
                       georegression.struct.se.Se3_F64 estimatedModel)
        Specified by:
        process in interface boofcv.struct.geo.GeoModelEstimator1<georegression.struct.se.Se3_F64,​Stereo2D3D>

      • getMinimumPoints

        public int getMinimumPoints()
        Specified by:
        getMinimumPoints in interface boofcv.struct.geo.GeoModelEstimator1<georegression.struct.se.Se3_F64,​Stereo2D3D>