boofcv.alg.geo.calibration

Class Zhang99OptimizationJacobian

java.lang.Object

boofcv.alg.geo.calibration.Zhang99OptimizationJacobian

All Implemented Interfaces:

FunctionNtoMxN

public class Zhang99OptimizationJacobian
extends java.lang.Object
implements FunctionNtoMxN

Analytical Jacobian for optimizing calibration parameters.

NOTE: Accuracy is tested in a unit test using a numerical Jacobian. A very crude tolerance was required to make it pass. I think this implementation is correct, but hand computing the Jacobian is error prone. In practice it produces virtually the same final results as the numerical Jacobian.

Constructor Summary

Constructors

Constructor and Description
Zhang99OptimizationJacobian(boolean assumeZeroSkew, int numRadial, boolean includeTangential, java.util.List<CalibrationObservation> observationSets, java.util.List<Point2D_F64> grid) Configurations the optimization function.

Method Summary

Modifier and Type	Method and Description
int	getNumOfInputsN() Number of input parameters and columns in output matrix.
int	getNumOfOutputsM() Number of rows in output matrix.
void	process(double[] input, double[] output) Processes the input vector to output a 2D a matrix.

Methods inherited from class java.lang.Object

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

Constructor Detail

Zhang99OptimizationJacobian

public Zhang99OptimizationJacobian(boolean assumeZeroSkew,
                                   int numRadial,
                                   boolean includeTangential,
                                   java.util.List<CalibrationObservation> observationSets,
                                   java.util.List<Point2D_F64> grid)

Configurations the optimization function.

Parameters:

grid - Location of points on the calibration grid. z=0

Method Detail

getNumOfInputsN

public int getNumOfInputsN()

Description copied from interface: FunctionNtoMxN

Number of input parameters and columns in output matrix. Typically the parameters you are optimizing.

Specified by:

getNumOfInputsN in interface FunctionNtoMxN

Returns:

Number of input parameters

getNumOfOutputsM

public int getNumOfOutputsM()

Description copied from interface: FunctionNtoMxN

Number of rows in output matrix. Typically the functions that are being optimized.

Specified by:

getNumOfOutputsM in interface FunctionNtoMxN

Returns:

Number of rows in output matrix.

process

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

Description copied from interface: FunctionNtoMxN

Processes the input vector to output a 2D a matrix. The matrix has a dimension of M rows and N columns and is formatted as a row major 1D-array. EJML can be used to provide a matrix wrapper around the output array: DenseMatrix J = DenseMatrix.wrap(m,n,output);

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

Specified by:

process in interface FunctionNtoMxN

Parameters:

input - Vector with input parameters.

output - Row major array with M rows and N columns.