boofcv.alg.geo.bundle

Class CalibratedPoseAndPoint

java.lang.Object

boofcv.alg.geo.bundle.CalibratedPoseAndPoint

public class CalibratedPoseAndPoint
extends Object

Expanded model for fast computations used by bundle adjustment with calibrated cameras. Designed to minimize unnecessary creating and destroying memory.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
CalibratedPoseAndPoint()

Method Summary

Methods

Modifier and Type	Method and Description
void	configure(int numViews, int numPoints) Specifies the number of views and 3D points being estimated
boolean[]	getKnownArray()
int	getNumPoints()
int	getNumUnknownViews()
int	getNumViews()
georegression.struct.point.Point3D_F64	getPoint(int index)
georegression.struct.se.Se3_F64	getWorldToCamera(int view)
boolean	isViewKnown(int view)
void	setViewKnown(int view, boolean known)

Methods inherited from class java.lang.Object

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

Constructor Detail

CalibratedPoseAndPoint

public CalibratedPoseAndPoint()

Method Detail

configure

public void configure(int numViews,
             int numPoints)

Specifies the number of views and 3D points being estimated

Parameters:

numViews - Number of camera views observing the points.

numPoints - Number of points observed

setViewKnown

public void setViewKnown(int view,
                boolean known)

isViewKnown

public boolean isViewKnown(int view)

getWorldToCamera

public georegression.struct.se.Se3_F64 getWorldToCamera(int view)

getPoint

public georegression.struct.point.Point3D_F64 getPoint(int index)

getNumPoints

public int getNumPoints()

getNumViews

public int getNumViews()

getNumUnknownViews

public int getNumUnknownViews()

getKnownArray

public boolean[] getKnownArray()