boofcv.abst.geo

Interface RefineTriangulationEpipolar

All Known Implementing Classes:

LeastSquaresTriangulateEpipolar

public interface RefineTriangulationEpipolar

Refines the location of a triangulated point using epipolar constraint matrix (Fundamental or Essential). Observations are in pixels if Fundamental matrix is provided, normalized if Essential matrix is provided.

Author:

Peter Abeles

Method Summary

Methods

Modifier and Type	Method and Description
boolean	process(List<georegression.struct.point.Point2D_F64> observations, List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam, georegression.struct.point.Point3D_F64 worldPt, georegression.struct.point.Point3D_F64 refinedPt) Refines the triangulated point.

Method Detail

process

boolean process(List<georegression.struct.point.Point2D_F64> observations,
              List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam,
              georegression.struct.point.Point3D_F64 worldPt,
              georegression.struct.point.Point3D_F64 refinedPt)

Refines the triangulated point. NOTE: the epipolar matrix is configured such that x2^T*F*x1 = 0, where x1 is the observation in the world frame and x2 in the camera frame.

Parameters:

observations - Observations of feature in N views. Pixel or Normalized image coordinates.

fundamentalWorldToCam - Fundamental or essential matrix for each view. World to Camera.

worldPt - Initial estimate of point in world coordinates.

refinedPt - The refined estimated point position.

Returns:

if successful or not