boofcv.abst.geo

Interface RefineTriangulationEpipolar

All Known Implementing Classes:

LeastSquaresTriangulateEpipolar

public interface RefineTriangulationEpipolar

Refines the location of a triangulated point using epipolar constraint matrix (Fundamental or Essential). Observations are in pixels if Fundamental matrix is provided, normalized if Essential matrix is provided.

Method Summary

Modifier and Type	Method and Description
boolean	process(java.util.List<georegression.struct.point.Point2D_F64> observations, java.util.List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam, georegression.struct.point.Point3D_F64 worldPt, georegression.struct.point.Point3D_F64 refinedPt) Refines the triangulated point.

Method Detail

process

boolean process(java.util.List<georegression.struct.point.Point2D_F64> observations,
                java.util.List<org.ejml.data.DenseMatrix64F> fundamentalWorldToCam,
                georegression.struct.point.Point3D_F64 worldPt,
                georegression.struct.point.Point3D_F64 refinedPt)

Refines the triangulated point. NOTE: the epipolar matrix is configured such that x2^T*F*x1 = 0, where x1 is the observation in the world frame and x2 in the camera frame.

Parameters:

observations - Observations of feature in N views. Pixel or Normalized image coordinates.

fundamentalWorldToCam - Fundamental or essential matrix for each view. World to Camera.

worldPt - Initial estimate of point in world coordinates.

refinedPt - The refined estimated point position.

Returns:

if successful or not