boofcv.alg.geo.triangulate
Class ResidualsTriangulateSampson
- java.lang.Object
-
- boofcv.alg.geo.triangulate.ResidualsTriangulateSampson
-
- All Implemented Interfaces:
- FunctionNtoM
public class ResidualsTriangulateSampson extends java.lang.Object implements FunctionNtoM
Sampson first-order to geometric triangulation error. Partially enforces epipolar constraints. Much less expensive to compute than true constrained geometric error.
[1] Page 315 in R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
-
-
Constructor Summary
Constructors Constructor and Description ResidualsTriangulateSampson()
-
Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method and Description intgetNumOfInputsN()Number of input elements.intgetNumOfOutputsM()Number of output elements.voidprocess(double[] input, double[] output)Processes the input to compute the values found in the output array.voidsetObservations(java.util.List<Point2D_F64> observations, java.util.List<org.ejml.data.DenseMatrix64F> essential)Configures inputs.
-
-
-
Method Detail
-
setObservations
public void setObservations(java.util.List<Point2D_F64> observations, java.util.List<org.ejml.data.DenseMatrix64F> essential)
Configures inputs.- Parameters:
observations- Observations of the feature at different locations. Normalized image coordinates.essential- Essential matrices associated with camera motion (world to camera)
-
getNumOfInputsN
public int getNumOfInputsN()
Description copied from interface:FunctionNtoMNumber of input elements. Typically the parameters you are optimizing.- Specified by:
getNumOfInputsNin interfaceFunctionNtoM- Returns:
- number of input elements
-
getNumOfOutputsM
public int getNumOfOutputsM()
Description copied from interface:FunctionNtoMNumber of output elements. Typically the functions that are being optimized.- Specified by:
getNumOfOutputsMin interfaceFunctionNtoM- Returns:
- number of output elements
-
process
public void process(double[] input, double[] output)Description copied from interface:FunctionNtoMProcesses 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. SeeUnconstrainedLeastSquares.The user can modify the input parameters here and the optimizer must use those changes.
- Specified by:
processin interfaceFunctionNtoM- Parameters:
input- Parameters for input model.output- Storage for the output give the model.
-
-
DataMelt 3.0 © DataMelt by jWork.ORG