Class SolvePnP

Namespace

Bonsai.Vision

Assembly

Bonsai.Vision.dll

Represents an operator that computes a sequence of camera extrinsics from sets of 3D-2D point correspondences and the specified camera intrinsics.

public class SolvePnP : IntrinsicsTransform

Inheritance

object

IntrinsicsTransform

SolvePnP

Inherited Members

IntrinsicsTransform.ImageSize

IntrinsicsTransform.Alpha

IntrinsicsTransform.FocalLength

IntrinsicsTransform.PrincipalPoint

IntrinsicsTransform.RadialDistortion

IntrinsicsTransform.TangentialDistortion

IntrinsicsTransform.Intrinsics

IntrinsicsTransform.Distortion

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

Methods

Process(IObservable<Tuple<Point3d[], Point2d[], Extrinsics>>)

Computes an observable sequence of camera extrinsics from sets of 3D-2D point correspondences, the specified camera intrinsics and an initial estimate of the camera extrinsics.

public IObservable<Extrinsics> Process(IObservable<Tuple<Point3d[], Point2d[], Extrinsics>> source)

Parameters

source IObservable<Tuple<Point3d[], Point2d[], Extrinsics>>

A sequence of triplets containing the 3D-2D point correspondences and a prior estimate used to compute the camera extrinsics. For each 3D point in the first array, the corresponding 2D point in the second array represents the matching projection of that 3D point in the camera image.

Returns

IObservable<Extrinsics>

A sequence of Extrinsics objects representing the camera extrinsics, such as position and rotation, computed from each set of 3D-2D point correspondences and an initial estimate of the extrinsics.

Process(IObservable<Tuple<Point3d[], Point2d[]>>)

Computes an observable sequence of camera extrinsics from sets of 3D-2D point correspondences and the specified camera intrinsics.

public IObservable<Extrinsics> Process(IObservable<Tuple<Point3d[], Point2d[]>> source)

Parameters

source IObservable<Tuple<Point3d[], Point2d[]>>

A sequence of 3D-2D point correspondences used to compute the camera extrinsics. For each 3D point in the first array, the corresponding 2D point in the second array represents the matching projection of that 3D point in the camera image.

Returns

IObservable<Extrinsics>

A sequence of Extrinsics objects representing the camera extrinsics, such as position and rotation, computed from each set of 3D-2D point correspondences.