boofcv.alg.geo.triangulate

Class TriangulateGeometric

java.lang.Object

boofcv.alg.geo.triangulate.TriangulateGeometric

public class TriangulateGeometric
extends java.lang.Object

Triangulates two views by finding the point which minimizes the distance between two rays. Optimal in the geometric sense, but does not take in account stereo constraints.

Constructor Summary

Constructors

Constructor and Description
TriangulateGeometric()

Method Summary

Modifier and Type	Method and Description
void	triangulate(georegression.struct.point.Point2D_F64 a, georegression.struct.point.Point2D_F64 b, georegression.struct.se.Se3_F64 fromAtoB, georegression.struct.point.Point3D_F64 foundInA) Given two observations of the same point from two views and a known motion between the two views, triangulate the point's 3D position in camera 'a' reference frame.

Methods inherited from class java.lang.Object

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

Constructor Detail

TriangulateGeometric

public TriangulateGeometric()

Method Detail

triangulate

public void triangulate(georegression.struct.point.Point2D_F64 a,
                        georegression.struct.point.Point2D_F64 b,
                        georegression.struct.se.Se3_F64 fromAtoB,
                        georegression.struct.point.Point3D_F64 foundInA)

Given two observations of the same point from two views and a known motion between the two views, triangulate the point's 3D position in camera 'a' reference frame.

Parameters:

a - Observation from camera view 'a' in normalized coordinates. Not modified.

b - Observation from camera view 'b' in normalized coordinates. Not modified.

fromAtoB - Transformation from camera view 'a' to 'b' Not modified.

foundInA - (Output) Found 3D position of the point in reference frame 'a'. Modified.