com.irurueta.ar.sfm.RobustSinglePoint3DTriangulator

Direct Known Subclasses:: LMedSRobustSinglePoint3DTriangulator, MSACRobustSinglePoint3DTriangulator, PROMedSRobustSinglePoint3DTriangulator, PROSACRobustSinglePoint3DTriangulator, RANSACRobustSinglePoint3DTriangulator

public abstract class RobustSinglePoint3DTriangulator extends Object

Abstract class for algorithms to robustly triangulate 3D points from matched 2D points and their corresponding cameras on several views. Robust estimators can be used to estimate a more precise triangulation when there are more than 2 views where points have been matched.

Field Summary

Fields

Modifier and Type

Field

Description

protected List<com.irurueta.geometry.PinholeCamera>

cameras

List of cameras associated to the matched 2D point on the same position as the camera on the list.

protected double

confidence

Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

static final double

DEFAULT_CONFIDENCE

Constant defining default confidence of the estimated result, which is 99%.

static final int

DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

static final float

DEFAULT_PROGRESS_DELTA

Default amount of progress variation before notifying a change in estimation progress.

static final com.irurueta.numerical.robust.RobustEstimatorMethod

DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

static final boolean

DEFAULT_USE_HOMOGENEOUS_SOLUTION

Indicates whether by default a solution to an homogeneous system of equations should be found.

protected RobustSinglePoint3DTriangulatorListener

listener

Listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

protected boolean

locked

Indicates if this estimator is locked because an estimation is being computed.

static final double

MAX_CONFIDENCE

Maximum allowed confidence value.

static final float

MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

protected int

maxIterations

Maximum allowed number of iterations.

static final double

MIN_CONFIDENCE

Minimum allowed confidence value.

static final int

MIN_ITERATIONS

Minimum allowed number of iterations.

static final float

MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

static final int

MIN_REQUIRED_VIEWS

Minimum required number of views to triangulate 3D points.

protected List<com.irurueta.geometry.Point2D>

points2D

Matched 2D points.

protected float

progressDelta

Amount of progress variation before notifying a progress change during estimation.

protected boolean

useHomogeneousSolution

Indicates whether a solution to an homogeneous system of equations should be found.
Constructor Summary

Constructors

Modifier

Constructor

Description

protected

RobustSinglePoint3DTriangulator()

Constructor.

protected

RobustSinglePoint3DTriangulator(RobustSinglePoint3DTriangulatorListener listener)

Constructor.

protected

RobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras)

Constructor.

protected

RobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, RobustSinglePoint3DTriangulatorListener listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

static RobustSinglePoint3DTriangulator

create()

Creates a robust single 3D point triangulator using default robust method.

static RobustSinglePoint3DTriangulator

create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust single 3D point triangulator using provided robust method.

static RobustSinglePoint3DTriangulator

create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras)

Creates a robust single 3D point triangulator using provided points, cameras and default robust method.

static RobustSinglePoint3DTriangulator

create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)

Creates a robust single 3D point triangulator using provided points, cameras and default robust method.

static RobustSinglePoint3DTriangulator

create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust single 3D point triangulator using provided points, cameras and robust method.

static RobustSinglePoint3DTriangulator

create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust single 3D point triangulator using provided points, cameras and robust method.

List<com.irurueta.geometry.PinholeCamera>

getCameras()

Returns cameras for each view where 2D points are represented.

double

getConfidence()

Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

RobustSinglePoint3DTriangulatorListener

getListener()

Returns reference to listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

int

getMaxIterations()

Returns maximum allowed number of iterations.

abstract com.irurueta.numerical.robust.RobustEstimatorMethod

getMethod()

Returns method being used for robust estimation.

List<com.irurueta.geometry.Point2D>

getPoints2D()

Returns list of matched 2D points on each view.

float

getProgressDelta()

Returns amount of progress variation before notifying a progress change during estimation.

double[]

getQualityScores()

Returns quality scores corresponding to each view.

private void

internalSetPointsAndCameras(List<com.irurueta.geometry.Point2D> points2D, List<com.irurueta.geometry.PinholeCamera> cameras)

Internal method to sets list of matched 2D points for each view and their corresponding cameras used to project them.

boolean

isListenerAvailable()

Indicates whether listener has been provided and is available for retrieval.

boolean

isLocked()

Indicates if this instance is locked because triangulation is being computed.

boolean

isReady()

Indicates whether this instance is ready to start the triangulation.

boolean

isUseHomogeneousSolution()

Indicates whether a solution to an homogeneous system of equations should be found.

void

setConfidence(double confidence)

Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

void

setListener(RobustSinglePoint3DTriangulatorListener listener)

Sets listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

void

setMaxIterations(int maxIterations)

Sets maximum allowed number of iterations.

void

setPointsAndCameras(List<com.irurueta.geometry.Point2D> points2D, List<com.irurueta.geometry.PinholeCamera> cameras)

Sets list of matched 2D points for each view and their corresponding cameras used to project them.

void

setProgressDelta(float progressDelta)

Sets amount of progress variation before notifying a progress change during estimation.

void

setQualityScores(double[] qualityScores)

Sets quality scores corresponding to each view.

void

setUseHomogeneousSolution(boolean useHomogeneousSolution)

Sets boolean indicating whether a solution to an homogeneous system of equations should be found.

abstract com.irurueta.geometry.Point3D

triangulate()

Triangulates provided matched 2D points being projected by each corresponding camera into a single 3D point.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- DEFAULT_ROBUST_METHOD
  
  public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
  
  Default robust estimator method when none is provided.
- DEFAULT_PROGRESS_DELTA
  
  public static final float DEFAULT_PROGRESS_DELTA
  
  Default amount of progress variation before notifying a change in estimation progress. By default, this is set to 5%.
  See Also:
  
  Constant Field Values
- MIN_PROGRESS_DELTA
  
  public static final float MIN_PROGRESS_DELTA
  
  Minimum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- MAX_PROGRESS_DELTA
  
  public static final float MAX_PROGRESS_DELTA
  
  Maximum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- DEFAULT_CONFIDENCE
  
  public static final double DEFAULT_CONFIDENCE
  
  Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chose sub-samples will be inliers.
  See Also:
  
  Constant Field Values
- DEFAULT_MAX_ITERATIONS
  
  public static final int DEFAULT_MAX_ITERATIONS
  
  Default maximum allowed number of iterations.
  See Also:
  
  Constant Field Values
- MIN_CONFIDENCE
  
  public static final double MIN_CONFIDENCE
  
  Minimum allowed confidence value.
  See Also:
  
  Constant Field Values
- MAX_CONFIDENCE
  
  public static final double MAX_CONFIDENCE
  
  Maximum allowed confidence value.
  See Also:
  
  Constant Field Values
- MIN_ITERATIONS
  
  public static final int MIN_ITERATIONS
  
  Minimum allowed number of iterations.
  See Also:
  
  Constant Field Values
- MIN_REQUIRED_VIEWS
  
  public static final int MIN_REQUIRED_VIEWS
  
  Minimum required number of views to triangulate 3D points.
  See Also:
  
  Constant Field Values
- DEFAULT_USE_HOMOGENEOUS_SOLUTION
  
  public static final boolean DEFAULT_USE_HOMOGENEOUS_SOLUTION
  
  Indicates whether by default a solution to an homogeneous system of equations should be found.
  See Also:
  
  Constant Field Values
- points2D
  
  protected List<com.irurueta.geometry.Point2D> points2D
  
  Matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
- cameras
  
  protected List<com.irurueta.geometry.PinholeCamera> cameras
  
  List of cameras associated to the matched 2D point on the same position as the camera on the list.
- listener
  
  protected RobustSinglePoint3DTriangulatorListener listener
  
  Listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- useHomogeneousSolution
  
  protected boolean useHomogeneousSolution
  
  Indicates whether a solution to an homogeneous system of equations should be found. Typically, this should be true, since even points and cameras at infinity can be used. If points are close and geometry is well-defined, false can be used to solve an inhomogeneous system of equations and obtain a slightly better accuracy.
- locked
  
  protected volatile boolean locked
  
  Indicates if this estimator is locked because an estimation is being computed.
- progressDelta
  
  protected float progressDelta
  
  Amount of progress variation before notifying a progress change during estimation.
- confidence
  
  protected double confidence
  
  Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
- maxIterations
  
  protected int maxIterations
  
  Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
Constructor Details
- RobustSinglePoint3DTriangulator
  
  protected RobustSinglePoint3DTriangulator()
  
  Constructor.
- RobustSinglePoint3DTriangulator
  
  protected RobustSinglePoint3DTriangulator(RobustSinglePoint3DTriangulatorListener listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- RobustSinglePoint3DTriangulator
  
  protected RobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras)
  
  Constructor.
  
  Parameters:
  
  points - Matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - List of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  Throws:
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- RobustSinglePoint3DTriangulator
  
  protected RobustSinglePoint3DTriangulator(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, RobustSinglePoint3DTriangulatorListener listener)
  
  Constructor.
  
  Parameters:
  
  points - Matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - List of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Throws:
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
Method Details
- getListener
  
  public RobustSinglePoint3DTriangulatorListener getListener()
  
  Returns reference to listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Returns:
  
  listener to be notified of events.
- setListener
  
  public void setListener(RobustSinglePoint3DTriangulatorListener listener) throws com.irurueta.geometry.estimators.LockedException
  
  Sets listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Parameters:
  
  listener - listener to be notified of events.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if robust estimator is locked.
- isListenerAvailable
  
  public boolean isListenerAvailable()
  
  Indicates whether listener has been provided and is available for retrieval.
  
  Returns:
  
  true if available, false otherwise.
- isUseHomogeneousSolution
  
  public boolean isUseHomogeneousSolution()
  
  Indicates whether a solution to an homogeneous system of equations should be found. Typically, this should be true, since even points and cameras at infinity can be used. If points are close and geometry is well-defined, false can be used to solve an inhomogeneous system of equations and obtain a slightly better accuracy.
  
  Returns:
  
  true if an homogeneous solution must be found (default value), false otherwise.
- setUseHomogeneousSolution
  
  public void setUseHomogeneousSolution(boolean useHomogeneousSolution) throws com.irurueta.geometry.estimators.LockedException
  
  Sets boolean indicating whether a solution to an homogeneous system of equations should be found. Typically, this should be true, since even points and cameras at infinity can be used. If points are close and geometry is well-defined, false can be used to solve an inhomogeneous system of equations and obtain a slightly better accuracy.
  
  Parameters:
  
  useHomogeneousSolution - true if an homogeneous solution will be found, false if an inhomogeneous solution will be found instead.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if this instance is locked.
- isLocked
  
  public boolean isLocked()
  
  Indicates if this instance is locked because triangulation is being computed.
  
  Returns:
  
  true if locked, false otherwise.
- getProgressDelta
  
  public float getProgressDelta()
  
  Returns amount of progress variation before notifying a progress change during estimation.
  
  Returns:
  
  amount of progress variation before notifying a progress change during estimation.
- setProgressDelta
  
  public void setProgressDelta(float progressDelta) throws com.irurueta.geometry.estimators.LockedException
  
  Sets amount of progress variation before notifying a progress change during estimation.
  
  Parameters:
  
  progressDelta - amount of progress variation before notifying a progress change during estimation.
  
  Throws:
  
  IllegalArgumentException - if progress delta is less than zero or greater than 1.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimation is being computed.
- getConfidence
  
  public double getConfidence()
  
  Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Returns:
  
  amount of confidence as a value between 0.0 and 1.0.
- setConfidence
  
  public void setConfidence(double confidence) throws com.irurueta.geometry.estimators.LockedException
  
  Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Parameters:
  
  confidence - confidence to be set as a value between 0.0 and 1.0.
  
  Throws:
  
  IllegalArgumentException - if provided value is not between 0.0 and 1.0.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimator is being computed.
- getMaxIterations
  
  public int getMaxIterations()
  
  Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling estimate(), a RobustEstimatorException will be raised.
  
  Returns:
  
  maximum allowed number of iterations.
- setMaxIterations
  
  public void setMaxIterations(int maxIterations) throws com.irurueta.geometry.estimators.LockedException
  
  Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
  
  Parameters:
  
  maxIterations - maximum allowed number of iterations to be set.
  
  Throws:
  
  IllegalArgumentException - if provided value is less than 1.
  
  com.irurueta.geometry.estimators.LockedException - if this estimator is locked because an estimation is being computed.
- setPointsAndCameras
  
  public void setPointsAndCameras(List<com.irurueta.geometry.Point2D> points2D, List<com.irurueta.geometry.PinholeCamera> cameras) throws com.irurueta.geometry.estimators.LockedException
  
  Sets list of matched 2D points for each view and their corresponding cameras used to project them.
  
  Parameters:
  
  points2D - list of matched 2D points on each view. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - cameras for each view where 2D points are represented.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if this instance is locked.
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- getPoints2D
  
  public List<com.irurueta.geometry.Point2D> getPoints2D()
  
  Returns list of matched 2D points on each view. Each point in the list is assumed to be projected by the corresponding camera.
  
  Returns:
  
  list of matched 2D points on each view.
- getCameras
  
  public List<com.irurueta.geometry.PinholeCamera> getCameras()
  
  Returns cameras for each view where 2D points are represented.
  
  Returns:
  
  cameras for each view where 2D points are represented.
- getQualityScores
  
  public double[] getQualityScores()
  
  Returns quality scores corresponding to each view. The larger the score value the better the quality of the view measure. This implementation always returns null. Subclasses using quality scores must implement proper behaviour.
  
  Returns:
  
  quality scores corresponding to each view.
- setQualityScores
  
  public void setQualityScores(double[] qualityScores) throws com.irurueta.geometry.estimators.LockedException
  
  Sets quality scores corresponding to each view. The larger the score value the better the quality of the view sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each view.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if robust estimator is locked because an estimation is already in progress.
  
  IllegalArgumentException - if provided quality scores length is smaller than MIN_REQUIRED_VIEWS (i.e. 2 views).
- isReady
  
  public boolean isReady()
  
  Indicates whether this instance is ready to start the triangulation. An instance is ready when both lists of 2D points and cameras are provided, both lists have the same length and at least data for 2 views is provided.
  
  Returns:
  
  true if this instance is ready, false otherwise.
- triangulate
  
  public abstract com.irurueta.geometry.Point3D triangulate() throws com.irurueta.geometry.estimators.LockedException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
  
  Triangulates provided matched 2D points being projected by each corresponding camera into a single 3D point. At least 2 matched 2D points and their corresponding 2 cameras are required to compute triangulation. If more views are provided, an averaged solution can be found.
  
  Returns:
  
  computed triangulated 3D point.
  
  Throws:
  
  com.irurueta.geometry.estimators.LockedException - if this instance is locked.
  
  com.irurueta.geometry.estimators.NotReadyException - if lists of points and cameras don't have the same length or less than 2 views are provided.
  
  com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).
- getMethod
  
  public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
  
  Returns method being used for robust estimation.
  
  Returns:
  
  method being used for robust estimation.
- create
  
  public static RobustSinglePoint3DTriangulator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust single 3D point triangulator using provided robust method.
  
  Parameters:
  
  method - method of a robust estimator algorithm to estimate the best triangulation.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
- create
  
  public static RobustSinglePoint3DTriangulator create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust single 3D point triangulator using provided points, cameras and robust method.
  
  Parameters:
  
  points - matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - list of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  method - method of a robust estimator algorithm to estimate the best triangulation.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
  
  Throws:
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- create
  
  public static RobustSinglePoint3DTriangulator create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust single 3D point triangulator using provided points, cameras and robust method.
  
  Parameters:
  
  points - matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - list of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  qualityScores - quality scores corresponding to each point.
  
  method - method of a robust estimator algorithm to estimate the best triangulation.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
  
  Throws:
  
  IllegalArgumentException - if provided lists or quality scores don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- create
  
  public static RobustSinglePoint3DTriangulator create()
  
  Creates a robust single 3D point triangulator using default robust method.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
- create
  
  public static RobustSinglePoint3DTriangulator create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras)
  
  Creates a robust single 3D point triangulator using provided points, cameras and default robust method.
  
  Parameters:
  
  points - matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - list of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
  
  Throws:
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- create
  
  public static RobustSinglePoint3DTriangulator create(List<com.irurueta.geometry.Point2D> points, List<com.irurueta.geometry.PinholeCamera> cameras, double[] qualityScores)
  
  Creates a robust single 3D point triangulator using provided points, cameras and default robust method.
  
  Parameters:
  
  points - matched 2D points. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - list of cameras associated to the matched 2D point on the same position as the camera on the list.
  
  qualityScores - quality scores corresponding to each point.
  
  Returns:
  
  an instance of a robust single 3D point triangulator.
  
  Throws:
  
  IllegalArgumentException - if provided lists or quality scores don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.
- internalSetPointsAndCameras
  
  private void internalSetPointsAndCameras(List<com.irurueta.geometry.Point2D> points2D, List<com.irurueta.geometry.PinholeCamera> cameras)
  
  Internal method to sets list of matched 2D points for each view and their corresponding cameras used to project them. This method does not check whether instance is locked.
  
  Parameters:
  
  points2D - list of matched 2D points on each view. Each point in the list is assumed to be projected by the corresponding camera in the list.
  
  cameras - cameras for each view where 2D points are represented.
  
  Throws:
  
  IllegalArgumentException - if provided lists don't have the same length or their length is less than 2 views, which is the minimum required to compute triangulation.

Class RobustSinglePoint3DTriangulator

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

DEFAULT_ROBUST_METHOD

DEFAULT_PROGRESS_DELTA

MIN_PROGRESS_DELTA

MAX_PROGRESS_DELTA

DEFAULT_CONFIDENCE

DEFAULT_MAX_ITERATIONS

MIN_CONFIDENCE

MAX_CONFIDENCE

MIN_ITERATIONS

MIN_REQUIRED_VIEWS

DEFAULT_USE_HOMOGENEOUS_SOLUTION

points2D

cameras

listener

useHomogeneousSolution

locked

progressDelta

confidence

maxIterations

Constructor Details

RobustSinglePoint3DTriangulator

RobustSinglePoint3DTriangulator

RobustSinglePoint3DTriangulator

RobustSinglePoint3DTriangulator

Method Details

getListener

setListener

isListenerAvailable

isUseHomogeneousSolution

setUseHomogeneousSolution

isLocked

getProgressDelta

setProgressDelta

getConfidence

setConfidence

getMaxIterations

setMaxIterations

setPointsAndCameras

getPoints2D

getCameras

getQualityScores

setQualityScores

isReady

triangulate

getMethod

create

create

create

create

create

create

internalSetPointsAndCameras