boofcv.alg.geo.triangulate

Class ResidualsTriangulateSimple

java.lang.Object

boofcv.alg.geo.triangulate.ResidualsTriangulateSimple

All Implemented Interfaces:

org.ddogleg.optimization.functions.FunctionNtoM

public class ResidualsTriangulateSimple
extends Object
implements org.ddogleg.optimization.functions.FunctionNtoM

Basic error function for triangulation which only computes the residual between predicted and actual observed point location. Does not take in account the epipolar constraints.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
ResidualsTriangulateSimple()

Method Summary

Methods

Modifier and Type	Method and Description
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, double[] output)
void	setObservations(List<georegression.struct.point.Point2D_F64> observations, List<georegression.struct.se.Se3_F64> motionGtoC) Configures inputs.

Methods inherited from class java.lang.Object

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

Constructor Detail

ResidualsTriangulateSimple

public ResidualsTriangulateSimple()

Method Detail

setObservations

public void setObservations(List<georegression.struct.point.Point2D_F64> observations,
                   List<georegression.struct.se.Se3_F64> motionGtoC)

Configures inputs.

Parameters:

observations - Observations of the feature at different locations. Normalized image coordinates.

motionGtoC - Camera motion from global to camera frame..

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface org.ddogleg.optimization.functions.FunctionNtoM

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface org.ddogleg.optimization.functions.FunctionNtoM

process

public void process(double[] input,
           double[] output)

Specified by:

process in interface org.ddogleg.optimization.functions.FunctionNtoM