public static Estimate1ofPnP pnp_1 ( EnumPNP which , int numIterations , int numTest ) { if ( which == EnumPNP . EPNP ) { PnPLepetitEPnP alg = new PnPLepetitEPnP ( 0.1 ) ; alg . setNumIterations ( numIterations ) ; return new WrapPnPLepetitEPnP ( alg ) ; } else if ( which == EnumPNP . IPPE ) { Estimate1ofEpipolar H = FactoryMultiView . homographyTLS ( ) ; return new IPPE_to_EstimatePnP ( H ) ; } FastQueue < Se3_F64 > solutions = new FastQueue <> ( 4 , Se3_F64 . class , true ) ; return new EstimateNto1ofPnP ( pnp_N ( which , - 1 ) , solutions , numTest ) ; }
Created an estimator for the P3P problem that selects a single solution by considering additional observations .