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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.abst.geo.triangulate;

import boofcv.abst.geo.Triangulate2ViewsMetric;
import boofcv.alg.geo.triangulate.PixelDepthLinearMetric;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.se.Se3_F64;

/**
 * Wrapper around {@link PixelDepthLinearMetric} for {@link Triangulate2ViewsMetric}.
 * 
 * @author Peter Abeles
 */
public class Wrap2ViewPixelDepthLinear implements Triangulate2ViewsMetric {

	PixelDepthLinearMetric alg = new PixelDepthLinearMetric();
	
	@Override
	public boolean triangulate(Point2D_F64 obsA, Point2D_F64 obsB, 
							   Se3_F64 fromAtoB, Point3D_F64 foundInA) {
		
		double depth = alg.depth2View(obsA,obsB, fromAtoB);
		
		foundInA.x = obsA.x*depth;
		foundInA.y = obsA.y*depth;
		foundInA.z = depth;

		return true;
	}
}