boofcv.alg.geo.pose

Interface P3PLineDistance

All Known Implementing Classes:

P3PFinsterwalder, P3PGrunert

public interface P3PLineDistance

A related problem to the full P3P problem is to estimate the distance between the camera center and each of the 3 points being viewed. Once those distances are known the full 3D rigid body transform can be computed.

More formally states the problem is: Three points (P1,P2,P3) in 3D space are observed in the image plane in normalized image coordinates (obs1,obs2,obs3). The distance in 3D space between pairs of points (P1,P3), (P1,P2), and (P2,P3) is known. Solve for the distance between the camera's origin and each of the three points.

Author:

Peter Abeles

Method Summary

Methods

Modifier and Type	Method and Description
org.ddogleg.struct.FastQueue<PointDistance3>	getSolutions() Returns a set of solutions.
boolean	process(georegression.struct.point.Point2D_F64 obs1, georegression.struct.point.Point2D_F64 obs2, georegression.struct.point.Point2D_F64 obs3, double length23, double length13, double length12) Solve for the distance between the camera's origin and each of the 3 points in 3D space.

Method Detail

process

boolean process(georegression.struct.point.Point2D_F64 obs1,
              georegression.struct.point.Point2D_F64 obs2,
              georegression.struct.point.Point2D_F64 obs3,
              double length23,
              double length13,
              double length12)

Solve for the distance between the camera's origin and each of the 3 points in 3D space.

Parameters:

obs1 - Observation of P1 in normalized image coordinates

obs2 - Observation of P2 in normalized image coordinates

obs3 - Observation of P3 in normalized image coordinates

length23 - Distance between points P2 and P3

length13 - Distance between points P1 and P3

length12 - Distance between points P1 and P2

Returns:

true if successful or false if it failed to generate any solutions

getSolutions

org.ddogleg.struct.FastQueue<PointDistance3> getSolutions()

Returns a set of solutions. Each solution contains the distance to the respective point.

Returns:

List of solutions.