Package georegression.transform.se

Class AverageRotationMatrix_F64

java.lang.Object

georegression.transform.se.AverageRotationMatrix_F64

public class AverageRotationMatrix_F64
extends Object

Finds the average of a set of quaternions by using a modification of the method proposed in [1]. It works by finding the average rotation matrix then finds the best fit matrix in SO-3, see page 200 of [2].

[1] MLA Markley, F. Landis, et al. "Quaternion averaging." (2007)

[2] "An Invitation to 3-D Vision, From Images to Geometric Models" 1st Ed. 2004. Springer.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	AverageRotationMatrix_F64.Convert<T>

Constructor Summary

Constructors

Constructor	Description
AverageRotationMatrix_F64()

Method Summary

Modifier and Type	Method	Description
boolean	process(List<DMatrix3x3> list, DMatrix3x3 average)	Finds average rotation matrix for matrices stored in DMatrix3x3 format.
boolean	process(List<DMatrixRMaj> list, DMatrixRMaj average)	Finds average rotation matrix for matrices stored in DMatrixRMaj format.
<T> boolean	processOp(List<T> list, DMatrixRMaj average, AverageRotationMatrix_F64.Convert<T> op)	Computes average rotation matrix given a list with an arbitrary data type that can be converted into a DMatrix3x3.

Methods inherited from class java.lang.Object

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

Constructor Details

AverageRotationMatrix_F64

public AverageRotationMatrix_F64()

Method Details

process

public boolean process(List<DMatrixRMaj> list,
 DMatrixRMaj average)

Finds average rotation matrix for matrices stored in DMatrixRMaj format.

Parameters:

list - (Input) rotation matrices

average - (Output) average rotation.

Returns:

true if successful or false if it failed

process

public boolean process(List<DMatrix3x3> list,
 DMatrix3x3 average)

Finds average rotation matrix for matrices stored in DMatrix3x3 format.

Parameters:

list - (Input) rotation matrices

average - (Output) average rotation.

Returns:

true if successful or false if it failed

processOp

public <T> boolean processOp(List<T> list,
 DMatrixRMaj average,
 AverageRotationMatrix_F64.Convert<T> op)

Computes average rotation matrix given a list with an arbitrary data type that can be converted into a DMatrix3x3.

Parameters:

list - List of data structures with rotation matrix in it

average - (Output) Storage for computed average matrix

op - Converts input data type to DMatrix3x3

Returns:

true if successful or false if it failed