public class LocalizerTriangulation extends LocalizerBase
Constructor and Description |
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LocalizerTriangulation() |
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 rootOrientation)
Calculates absolute position and directions by performing triangulation
for all pairs of flags taking the average of all calculations.
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assignReferenceLines
public Pose3D localize(IEnvironmentModel environment, java.util.List<ILocalizationLine> lines, org.apache.commons.math3.geometry.euclidean.threed.Rotation rootOrientation)
flags
- visible landmarks with known position to be used for
localizationneckYawAngle
- the horizontal neck angle (yaw) of the viewerneckPitchAngle
- the vertical neck angle (pitch) of the viewer (not
used at the moment)