boofcv.factory.geo

Class FactoryTriangulate

java.lang.Object

boofcv.factory.geo.FactoryTriangulate

public class FactoryTriangulate
extends Object

Factory for creating algorithms for triangulating the 3D location of a point given 2 or more observations of the point at different camera positions.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
FactoryTriangulate()

Method Summary

Methods

Modifier and Type	Method and Description
static TriangulateNViewsCalibrated	nDLT() Triangulate N views using the Discrete Linear Transform (DLT)
static RefineTriangulationEpipolar	refineSampson(double convergenceTol, int maxIterations) Refine the triangulation using Sampson error.
static RefineTriangulationCalibrated	refineSimple(double convergenceTol, int maxIterations) Refine the triangulation by computing the difference between predicted and actual pixel location.
static TriangulateTwoViewsCalibrated	twoDLT() Triangulate two view using the Discrete Linear Transform (DLT)
static TriangulateTwoViewsCalibrated	twoGeometric() Triangulate two view by finding the intersection of two rays.
static TriangulateTwoViewsCalibrated	twoLinearDepth() Triangulate two view by finding the depth of the pixel using a linear algorithm.

Methods inherited from class java.lang.Object

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

Constructor Detail

FactoryTriangulate

public FactoryTriangulate()

Method Detail

twoGeometric

public static TriangulateTwoViewsCalibrated twoGeometric()

Triangulate two view by finding the intersection of two rays.

Returns:

Two view triangulation algorithm

See Also:

TriangulateGeometric

twoDLT

public static TriangulateTwoViewsCalibrated twoDLT()

Triangulate two view using the Discrete Linear Transform (DLT)

Returns:

Two view triangulation algorithm

See Also:

TriangulateLinearDLT

nDLT

public static TriangulateNViewsCalibrated nDLT()

Triangulate N views using the Discrete Linear Transform (DLT)

Returns:

Two view triangulation algorithm

See Also:

TriangulateLinearDLT

twoLinearDepth

public static TriangulateTwoViewsCalibrated twoLinearDepth()

Triangulate two view by finding the depth of the pixel using a linear algorithm.

Returns:

Two view triangulation algorithm

See Also:

PixelDepthLinear

refineSampson

public static RefineTriangulationEpipolar refineSampson(double convergenceTol,
                                        int maxIterations)

Refine the triangulation using Sampson error. Approximately takes in account epipolar constraints.

Parameters:

convergenceTol - Tolerance for finishing optimization

maxIterations - Maximum number of allowed iterations

Returns:

Triangulation refinement algorithm.

See Also:

ResidualsTriangulateSampson

refineSimple

public static RefineTriangulationCalibrated refineSimple(double convergenceTol,
                                         int maxIterations)

Refine the triangulation by computing the difference between predicted and actual pixel location. Does not take in account epipolar constraints.

Parameters:

convergenceTol - Tolerance for finishing optimization

maxIterations - Maximum number of allowed iterations

Returns:

Triangulation refinement algorithm.

See Also:

ResidualsTriangulateSimple