public class LocalizerUmeyama extends LocalizerBase
Constructor and Description |
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LocalizerUmeyama() |
Modifier and Type | Method and Description |
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Pose3D |
localize(IEnvironmentModel environment,
java.util.List<ILocalizationLine> lines,
org.apache.commons.math3.geometry.euclidean.threed.Rotation estimatedOrientation)
Determine the absolute position and orientation of the view-port in the 3D
environment.
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assignReferenceLines
public Pose3D localize(IEnvironmentModel environment, java.util.List<ILocalizationLine> lines, org.apache.commons.math3.geometry.euclidean.threed.Rotation estimatedOrientation)
ILocalizer
environment
- a description of the environment, in which the
localization should take place (set of known reference points and
lines)lines
- - A list of currently visible, unlabeled reference lines for
localization (for line assignment)estimatedOrientation
- - An approximation of the current global
orientation (rotation from root body system to global system)