boofcv.alg.geo.pose

Class PoseFromPairLinear6

java.lang.Object

boofcv.alg.geo.pose.PoseFromPairLinear6

public class PoseFromPairLinear6
extends Object

Estimates the camera motion using linear algebra given a set of N associated point observations and the depth (z-coordinate) of each object, where N >= 6. Note this is similar to, but not exactly the PnP problem.

Output from this class is a rotation and translation that converts a point from the first to second camera's reference frame:
X' = R*X+T
where R is a rotation matrix, T is a translation matrix, X is a coordinate in 1st reference frame, and X' in the second.

This approach is a modified version of the approach discussed in [1]. It is derived by using bilinear and trilinear constraints, as is discussed in Section 8.3. It has been modified to remove redundant rows and so that the computed rotation matrix is row major. The solution is derived from the equations below and by computing the null space from the resulting matrix:
cross(x₂)*(R*x₁) + cross(x₂)*T/λ_i=0
where cross(x) is the cross product matrix of X, x_i is the calibrated image pixel coordinate in the i^th image, R is rotation and T translation.

[1] "An Invitation to 3-D Vision, From Images to Geometric Models" 1st Ed. 2004. Springer.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
PoseFromPairLinear6()

Method Summary

Methods

Modifier and Type	Method and Description
protected org.ejml.data.DenseMatrix64F	getA() Matrix used internally.
georegression.struct.se.Se3_F64	getMotion() Estimated motion
void	process(List<AssociatedPair> observations, List<georegression.struct.point.Point3D_F64> locations) Computes the transformation between two camera frames using a linear equation.

Methods inherited from class java.lang.Object

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

Constructor Detail

PoseFromPairLinear6

public PoseFromPairLinear6()

Method Detail

process

public void process(List<AssociatedPair> observations,
           List<georegression.struct.point.Point3D_F64> locations)

Computes the transformation between two camera frames using a linear equation. Both the observed feature locations in each camera image and the depth (z-coordinate) of each feature must be known. Feature locations are in calibrated image coordinates.

Parameters:

observations - List of observations on the image plane in calibrated coordinates.

locations - List of object locations. One for each observation pair.

getMotion

public georegression.struct.se.Se3_F64 getMotion()

Estimated motion

Returns:

rigid body motion

getA

protected org.ejml.data.DenseMatrix64F getA()

Matrix used internally.