Package boofcv.alg.geo.pose

Interface Summary

Interface	Description
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.

Class Summary

Class	Description
P3PFinsterwalder	Solves for the 3 unknown distances between camera center and 3 observed points by finding a root of a cubic polynomial and the roots of two quadratic polynomials.
P3PGrunert	Solves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert.
PnPDistanceReprojectionSq	Computes the reprojection error squared for a given motion and Point2D3D.
PnPJacobianRodrigues	Computes the Jacobian of the error function in PnPResidualReprojection.
PnPLepetitEPnP	Implementation of the EPnP algorithm from [1] for solving the PnP problem when N >= 5 for the general case and N >= 4 for planar data (see note below).
PnPResidualReprojection	Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
PnPRodriguesCodec	Encoding an decoding a rotation and translation where the rotation is encoded as a 3-vector Rodrigues coordinate.
PointDistance3	Provides the distance each point is from the camera center.
PoseFromPairLinear6	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.
PositionFromPairLinear2	Given two views of N objects and the known rotation, estimate the translation.
Relinearlize	Used in case 4 of EPnP.
UtilLepetitEPnP	Various utility functions for PnPLepetitEPnP.