boofcv.alg.geo.bundle

Class CalibPoseAndPointResiduals

java.lang.Object

boofcv.alg.geo.bundle.CalibPoseAndPointResiduals

All Implemented Interfaces:

FunctionNtoM

public class CalibPoseAndPointResiduals
extends java.lang.Object
implements 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(ModelCodec<CalibratedPoseAndPoint> codec, CalibratedPoseAndPoint model, java.util.List<ViewPointObservations> obs) Configures the residual function.
int	getNumOfInputsN() Number of input elements.
int	getNumOfOutputsM() Number of output elements.
void	process(CalibratedPoseAndPoint model, double[] output)
void	process(double[] input, double[] output) Processes the input to compute the values found in the output array.

Methods inherited from class java.lang.Object

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

Constructor Detail

CalibPoseAndPointResiduals

public CalibPoseAndPointResiduals()

Method Detail

configure

public void configure(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()

Description copied from interface: FunctionNtoM

Number of input elements. Typically the parameters you are optimizing.

Specified by:

getNumOfInputsN in interface FunctionNtoM

Returns:

number of input elements

getNumOfOutputsM

public int getNumOfOutputsM()

Description copied from interface: FunctionNtoM

Number of output elements. Typically the functions that are being optimized.

Specified by:

getNumOfOutputsM in interface FunctionNtoM

Returns:

number of output elements

process

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

Description copied from interface: FunctionNtoM

Processes the input to compute the values found in the output array. The output's meaning depends on the application. For least-squares it is the residual error. See UnconstrainedLeastSquares.

The user can modify the input parameters here and the optimizer must use those changes.

Specified by:

process in interface FunctionNtoM

Parameters:

input - Parameters for input model.

output - Storage for the output give the model.

process

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