/*
* Copyright (c) 2011-2013, 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.pose;
import boofcv.abst.geo.Estimate1ofPnP;
import boofcv.abst.geo.GeoModelEstimatorNto1;
import boofcv.alg.geo.pose.PnPDistanceReprojectionSq;
import boofcv.struct.geo.GeoModelEstimatorN;
import boofcv.struct.geo.Point2D3D;
import georegression.struct.se.Se3_F64;
import org.ddogleg.struct.FastQueue;
/**
* Implementation of {@link GeoModelEstimatorNto1} for PnP problem.
*
* @author Peter Abeles
*/
public class EstimateNto1ofPnP extends GeoModelEstimatorNto1<Se3_F64,Point2D3D>
implements Estimate1ofPnP
{
public EstimateNto1ofPnP(GeoModelEstimatorN<Se3_F64, Point2D3D> alg, FastQueue<Se3_F64> solutions, int numTest) {
super(alg, new PnPDistanceReprojectionSq(), solutions, numTest);
}
@Override
protected void copy(Se3_F64 src, Se3_F64 dst) {
dst.set(src);
}
}