boofcv.alg.geo.bundle

Class CalibPoseAndPointRodriguesCodec

java.lang.Object

boofcv.alg.geo.bundle.CalibPoseAndPointRodriguesCodec

All Implemented Interfaces:

ModelCodec<CalibratedPoseAndPoint>

public class CalibPoseAndPointRodriguesCodec
extends java.lang.Object
implements ModelCodec<CalibratedPoseAndPoint>

Parametrization for Bundle Adjustment with known calibration where the rotation matrix is encoded using Rodrigues_F64 coordinates.

Constructor Summary

Constructors

Constructor and Description
CalibPoseAndPointRodriguesCodec()

Method Summary

Modifier and Type	Method and Description
void	configure(int numViews, int numPoints, int numViewsUnknown, boolean[] knownView) Specify the number of views and points it can expected
void	decode(double[] input, CalibratedPoseAndPoint outputModel) Converts the parameter array into a model.
void	encode(CalibratedPoseAndPoint model, double[] param) Converts the provided model into the array format.
int	getParamLength() Number of elements in array encoded parameters.

Methods inherited from class java.lang.Object

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

Constructor Detail

CalibPoseAndPointRodriguesCodec

public CalibPoseAndPointRodriguesCodec()

Method Detail

configure

public void configure(int numViews,
                      int numPoints,
                      int numViewsUnknown,
                      boolean[] knownView)

Specify the number of views and points it can expected

decode

public void decode(double[] input,
                   CalibratedPoseAndPoint outputModel)

Description copied from interface: ModelCodec

Converts the parameter array into a model.

Specified by:

decode in interface ModelCodec<CalibratedPoseAndPoint>

Parameters:

input - input model parameters.

outputModel - Option (can be null) model.

encode

public void encode(CalibratedPoseAndPoint model,
                   double[] param)

Description copied from interface: ModelCodec

Converts the provided model into the array format.

Specified by:

encode in interface ModelCodec<CalibratedPoseAndPoint>

Parameters:

model - Input model.

param - Output parameterized model. Can be null.

getParamLength

public int getParamLength()

Description copied from interface: ModelCodec

Number of elements in array encoded parameters.

Specified by:

getParamLength in interface ModelCodec<CalibratedPoseAndPoint>