Package boofcv.alg.geo.pose

Class 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 Description
      protected org.ddogleg.optimization.UnconstrainedLeastSquares minimizer  

    • Constructor Summary

      Constructors 
      Constructor Description
      PnPStereoRefineRodrigues​(double convergenceTol, int maxIterations)  

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      boolean fitModel​(java.util.List<Stereo2D3D> obs, georegression.struct.se.Se3_F64 worldToLeft, georegression.struct.se.Se3_F64 refinedWorldToLeft)  
      double getFitScore()  
      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>

      • getFitScore

        public double getFitScore()
        Specified by:
        getFitScore in interface org.ddogleg.fitting.modelset.ModelFitter<georegression.struct.se.Se3_F64,​Stereo2D3D>