boofcv.alg.geo.triangulate

Class ResidualsTriangulateSimple

java.lang.Object

boofcv.alg.geo.triangulate.ResidualsTriangulateSimple

All Implemented Interfaces:

FunctionNtoM

public class ResidualsTriangulateSimple
extends java.lang.Object
implements FunctionNtoM

Basic error function for triangulation which only computes the residual between predicted and actual observed point location. Does not take in account the epipolar constraints.

Constructor Summary

Constructors

Constructor and Description
ResidualsTriangulateSimple()

Method Summary

Modifier and Type	Method and Description
int	getNumOfInputsN() Number of input elements.
int	getNumOfOutputsM() Number of output elements.
void	process(double[] input, double[] output) Processes the input to compute the values found in the output array.
void	setObservations(java.util.List<Point2D_F64> observations, java.util.List<Se3_F64> motionGtoC) Configures inputs.

Methods inherited from class java.lang.Object

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

Constructor Detail

ResidualsTriangulateSimple

public ResidualsTriangulateSimple()

Method Detail

setObservations

public void setObservations(java.util.List<Point2D_F64> observations,
                            java.util.List<Se3_F64> motionGtoC)

Configures inputs.

Parameters:

observations - Observations of the feature at different locations. Normalized image coordinates.

motionGtoC - Camera motion from global to camera frame..

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.