boofcv.abst.geo.triangulate

Class LeastSquaresTriangulateCalibrated

java.lang.Object

boofcv.abst.geo.triangulate.LeastSquaresTriangulateCalibrated

All Implemented Interfaces:

RefineTriangulationCalibrated

public class LeastSquaresTriangulateCalibrated
extends java.lang.Object
implements RefineTriangulationCalibrated

Nonlinear least-squares triangulation.

Constructor Summary

Constructors

Constructor and Description
LeastSquaresTriangulateCalibrated(double convergenceTol, int maxIterations)

Method Summary

Modifier and Type	Method and Description
boolean	process(java.util.List<georegression.struct.point.Point2D_F64> observations, java.util.List<georegression.struct.se.Se3_F64> worldToCamera, georegression.struct.point.Point3D_F64 worldPt, georegression.struct.point.Point3D_F64 refinedPt) Refines the triangulated point.

Methods inherited from class java.lang.Object

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

Constructor Detail

LeastSquaresTriangulateCalibrated

public LeastSquaresTriangulateCalibrated(double convergenceTol,
                                         int maxIterations)

Method Detail

process

public boolean process(java.util.List<georegression.struct.point.Point2D_F64> observations,
                       java.util.List<georegression.struct.se.Se3_F64> worldToCamera,
                       georegression.struct.point.Point3D_F64 worldPt,
                       georegression.struct.point.Point3D_F64 refinedPt)

Description copied from interface: RefineTriangulationCalibrated

Refines the triangulated point.

Specified by:

process in interface RefineTriangulationCalibrated

Parameters:

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

worldToCamera - Camera transforms in each view. World to Camera.

worldPt - Initial estimate of point in world coordinates.

refinedPt - The refined estimated point position.

Returns:

if successful or not