boofcv.abst.geo.pose

Class WrapP3PLineDistance

java.lang.Object

boofcv.abst.geo.pose.WrapP3PLineDistance

All Implemented Interfaces:

EstimateNofPnP, GeoModelEstimatorN<georegression.struct.se.Se3_F64,Point2D3D>

public class WrapP3PLineDistance
extends Object
implements EstimateNofPnP

Converts solutions generated by P3PLineDistance into rigid body motions.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
WrapP3PLineDistance(P3PLineDistance alg, georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64> motionFit)

Method Summary

Methods

Modifier and Type	Method and Description
int	getMinimumPoints() Minimum number of points required to estimate the model.
boolean	process(List<Point2D3D> inputs, org.ddogleg.struct.FastQueue<georegression.struct.se.Se3_F64> solutions) Estimates a set of models which fit the given a set of observations.

Methods inherited from class java.lang.Object

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

Constructor Detail

WrapP3PLineDistance

public WrapP3PLineDistance(P3PLineDistance alg,
                   georegression.fitting.MotionTransformPoint<georegression.struct.se.Se3_F64,georegression.struct.point.Point3D_F64> motionFit)

Method Detail

process

public boolean process(List<Point2D3D> inputs,
              org.ddogleg.struct.FastQueue<georegression.struct.se.Se3_F64> solutions)

Description copied from interface: GeoModelEstimatorN

Estimates a set of models which fit the given a set of observations. A FastQueue is used to store the found models. Each time this function is invoked 'estimatedModels' is reset and new models are requested using the FastQueue.pop() function.

Specified by:

process in interface GeoModelEstimatorN<georegression.struct.se.Se3_F64,Point2D3D>

Parameters:

inputs - Input: Set of observations. Not modified.

solutions - Output: Storage for the set of estimated models. Modified.

Returns:

true if successful

getMinimumPoints

public int getMinimumPoints()

Description copied from interface: GeoModelEstimatorN

Minimum number of points required to estimate the model.

Specified by:

getMinimumPoints in interface GeoModelEstimatorN<georegression.struct.se.Se3_F64,Point2D3D>

Returns:

Minimum number of points.