boofcv.alg.geo.pose

Class UtilLepetitEPnP

java.lang.Object

boofcv.alg.geo.pose.UtilLepetitEPnP

public class UtilLepetitEPnP
extends Object

Various utility functions for PnPLepetitEPnP.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
UtilLepetitEPnP()

Method Summary

Methods

Modifier and Type	Method and Description
static void	computeCameraControl(double[] beta, List<georegression.struct.point.Point3D_F64>[] nullPts, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cameraPts, int numControl) Computes the camera control points as weighted sum of null points.
static void	constraintMatrix3x3(org.ejml.data.DenseMatrix64F L_3x6, org.ejml.data.DenseMatrix64F L_6x3) Extracts the linear constraint matrix for planar case 2 from the full 4x6 constraint matrix.
static void	constraintMatrix3x3a(org.ejml.data.DenseMatrix64F L_3x6, org.ejml.data.DenseMatrix64F L_3x3) Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.
static void	constraintMatrix3x6(org.ejml.data.DenseMatrix64F L, org.ejml.data.DenseMatrix64F y, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts, List<georegression.struct.point.Point3D_F64>[] nullPts) Linear constraint matrix for case 4 in the planar case
static void	constraintMatrix6x10(org.ejml.data.DenseMatrix64F L, org.ejml.data.DenseMatrix64F y, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts, List<georegression.struct.point.Point3D_F64>[] nullPts) Linear constraint matrix used in case 4 in the general case
static void	constraintMatrix6x3(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x3) Extracts the linear constraint matrix for case 2 from the full 6x10 constraint matrix.
static void	constraintMatrix6x4(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x4) Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.
static void	constraintMatrix6x6(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x6) Extracts the linear constraint matrix for case 3 from the full 6x10 constraint matrix.
static void	jacobian_Control3(org.ejml.data.DenseMatrix64F L_full, double[] beta, org.ejml.data.DenseMatrix64F A) Computes the Jacobian given 3 control points.
static void	jacobian_Control4(org.ejml.data.DenseMatrix64F L_full, double[] beta, org.ejml.data.DenseMatrix64F A) Computes the Jacobian given 4 control points.
static void	residuals_Control3(org.ejml.data.DenseMatrix64F L_full, org.ejml.data.DenseMatrix64F y, double[] beta, double[] r) Computes the residuals (difference between observed and predicted given 3 control points.
static void	residuals_Control4(org.ejml.data.DenseMatrix64F L_full, org.ejml.data.DenseMatrix64F y, double[] beta, double[] r) Computes the residuals (difference between observed and predicted) given 4 control points.

Methods inherited from class java.lang.Object

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

Constructor Detail

UtilLepetitEPnP

public UtilLepetitEPnP()

Method Detail

computeCameraControl

public static void computeCameraControl(double[] beta,
                        List<georegression.struct.point.Point3D_F64>[] nullPts,
                        org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cameraPts,
                        int numControl)

Computes the camera control points as weighted sum of null points.

Parameters:

beta - Beta values which describe the weights of null points

nullPts - Null points that the camera point is a weighted sum of

cameraPts - The output

constraintMatrix6x4

public static void constraintMatrix6x4(org.ejml.data.DenseMatrix64F L_6x10,
                       org.ejml.data.DenseMatrix64F L_6x4)

Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.

constraintMatrix6x3

public static void constraintMatrix6x3(org.ejml.data.DenseMatrix64F L_6x10,
                       org.ejml.data.DenseMatrix64F L_6x3)

Extracts the linear constraint matrix for case 2 from the full 6x10 constraint matrix.

constraintMatrix6x6

public static void constraintMatrix6x6(org.ejml.data.DenseMatrix64F L_6x10,
                       org.ejml.data.DenseMatrix64F L_6x6)

Extracts the linear constraint matrix for case 3 from the full 6x10 constraint matrix.

constraintMatrix6x10

public static void constraintMatrix6x10(org.ejml.data.DenseMatrix64F L,
                        org.ejml.data.DenseMatrix64F y,
                        org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts,
                        List<georegression.struct.point.Point3D_F64>[] nullPts)

Linear constraint matrix used in case 4 in the general case

Parameters:

L - Constraint matrix

y - Vector containing distance between world control points

controlWorldPts - List of world control points

nullPts - Null points

constraintMatrix3x3a

public static void constraintMatrix3x3a(org.ejml.data.DenseMatrix64F L_3x6,
                        org.ejml.data.DenseMatrix64F L_3x3)

Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.

constraintMatrix3x3

public static void constraintMatrix3x3(org.ejml.data.DenseMatrix64F L_3x6,
                       org.ejml.data.DenseMatrix64F L_6x3)

Extracts the linear constraint matrix for planar case 2 from the full 4x6 constraint matrix.

constraintMatrix3x6

public static void constraintMatrix3x6(org.ejml.data.DenseMatrix64F L,
                       org.ejml.data.DenseMatrix64F y,
                       org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts,
                       List<georegression.struct.point.Point3D_F64>[] nullPts)

Linear constraint matrix for case 4 in the planar case

Parameters:

L - Constraint matrix

y - Vector containing distance between world control points

controlWorldPts - List of world control points

nullPts - Null points

residuals_Control4

public static void residuals_Control4(org.ejml.data.DenseMatrix64F L_full,
                      org.ejml.data.DenseMatrix64F y,
                      double[] beta,
                      double[] r)

Computes the residuals (difference between observed and predicted) given 4 control points.

residuals_Control3

public static void residuals_Control3(org.ejml.data.DenseMatrix64F L_full,
                      org.ejml.data.DenseMatrix64F y,
                      double[] beta,
                      double[] r)

Computes the residuals (difference between observed and predicted given 3 control points.

jacobian_Control4

public static void jacobian_Control4(org.ejml.data.DenseMatrix64F L_full,
                     double[] beta,
                     org.ejml.data.DenseMatrix64F A)

Computes the Jacobian given 4 control points.

jacobian_Control3

public static void jacobian_Control3(org.ejml.data.DenseMatrix64F L_full,
                     double[] beta,
                     org.ejml.data.DenseMatrix64F A)

Computes the Jacobian given 3 control points.