boofcv.alg.geo.robust

Class Se3FromEssentialGenerator

java.lang.Object

boofcv.alg.geo.robust.Se3FromEssentialGenerator

All Implemented Interfaces:

org.ddogleg.fitting.modelset.ModelGenerator<georegression.struct.se.Se3_F64,AssociatedPair>

public class Se3FromEssentialGenerator
extends java.lang.Object
implements org.ddogleg.fitting.modelset.ModelGenerator<georegression.struct.se.Se3_F64,AssociatedPair>

Estimates the motion between two views up to a scale factor by computing an essential matrix, decomposing it, and using the positive depth constraint to select the best candidate. The returned motion is the motion from the first camera frame into the second camera frame.

Constructor Summary

Constructors

Constructor and Description
Se3FromEssentialGenerator(Estimate1ofEpipolar computeEssential, TriangulateTwoViewsCalibrated triangulate) Specifies how the essential matrix is computed

Method Summary

Modifier and Type	Method and Description
boolean	generate(java.util.List<AssociatedPair> dataSet, georegression.struct.se.Se3_F64 model) Computes the camera motion from the set of observations.
int	getMinimumPoints()

Methods inherited from class java.lang.Object

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

Constructor Detail

Se3FromEssentialGenerator

public Se3FromEssentialGenerator(Estimate1ofEpipolar computeEssential,
                                 TriangulateTwoViewsCalibrated triangulate)

Specifies how the essential matrix is computed

Parameters:

computeEssential - Algorithm for computing the essential matrix

Method Detail

generate

public boolean generate(java.util.List<AssociatedPair> dataSet,
                        georegression.struct.se.Se3_F64 model)

Computes the camera motion from the set of observations. The motion is from the first into the second camera frame.

Specified by:

generate in interface org.ddogleg.fitting.modelset.ModelGenerator<georegression.struct.se.Se3_F64,AssociatedPair>

Parameters:

dataSet - Associated pairs in normalized camera coordinates.

model - The best pose according to the positive depth constraint.

getMinimumPoints

public int getMinimumPoints()

Specified by:

getMinimumPoints in interface org.ddogleg.fitting.modelset.ModelGenerator<georegression.struct.se.Se3_F64,AssociatedPair>