boofcv.alg.geo.bundle

Class CalibPoseAndPointResiduals

java.lang.Object

boofcv.alg.geo.bundle.CalibPoseAndPointResiduals

All Implemented Interfaces:

org.ddogleg.optimization.functions.FunctionNtoM

public class CalibPoseAndPointResiduals
extends java.lang.Object
implements org.ddogleg.optimization.functions.FunctionNtoM

Computes residuals for bundle adjustment given known camera calibration. Cost function being optimized is specified below.

cost(P) = (1/(m*n))*∑_i ∑_j ||x_j - (1/z)*[R_i|T_i]*X_j||²

Constructor Summary

Constructors

Constructor and Description
CalibPoseAndPointResiduals()

Method Summary

Modifier and Type	Method and Description
void	configure(org.ddogleg.fitting.modelset.ModelCodec<CalibratedPoseAndPoint> codec, CalibratedPoseAndPoint model, java.util.List<ViewPointObservations> obs) Configures the residual function.
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(CalibratedPoseAndPoint model, double[] output)
void	process(double[] input, double[] output)

Methods inherited from class java.lang.Object

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

Constructor Detail

CalibPoseAndPointResiduals

public CalibPoseAndPointResiduals()

Method Detail

configure

public void configure(org.ddogleg.fitting.modelset.ModelCodec<CalibratedPoseAndPoint> codec,
                      CalibratedPoseAndPoint model,
                      java.util.List<ViewPointObservations> obs)

Configures the residual function.

Parameters:

model - Model being processed

codec - Decodes parameterized version of parameters

obs - Contains camera observations of each point.

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

process

public void process(CalibratedPoseAndPoint model,
                    double[] output)