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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) 2011-2020, 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.RefineTriangulateMetricH;
import boofcv.abst.geo.TriangulateNViewsMetricH;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point4D_F64;
import georegression.struct.se.Se3_F64;
import lombok.Getter;

import java.util.List;

/**
 * Estimates the triangulated point then refines it
 *
 * @author Peter Abeles
 */
public class TriangulateThenRefineMetricH implements TriangulateNViewsMetricH {

	final @Getter TriangulateNViewsMetricH estimator;
	final @Getter RefineTriangulateMetricH refiner;

	public TriangulateThenRefineMetricH( TriangulateNViewsMetricH estimator,
										 RefineTriangulateMetricH refiner ) {
		this.estimator = estimator;
		this.refiner = refiner;
	}

	@Override
	public boolean triangulate( List observations,
								List listWorldToView,
								Point4D_F64 location ) {

		if (!estimator.triangulate(observations, listWorldToView, location))
			return false;

		return refiner.process(observations, listWorldToView, location, location);
	}
}