Interface BundleAdjustment<Structure extends SceneStructure>

All Superinterfaces:
Stoppable, VerbosePrint
All Known Implementing Classes:
BundleAdjustmentSchur, BundleAdjustmentSchur_DDRM, BundleAdjustmentSchur_DSCC

public interface BundleAdjustment<Structure extends SceneStructure>
extends Stoppable, VerbosePrint
High level interface for bundle adjustment. Bundle adjustment is the process of optimizing in batch parameters for the scene's structure, camera pose, and intrinsic camera parameters.
  • Method Details

    • configure

      void configure​(double ftol, double gtol, int maxIterations)
      Configures optimization parameters. meaning of all of these parameters is implementation dependent. They might even be ignored.
      Parameters:
      ftol - Relative threshold for change in function value between iterations. 0 ≤ ftol ≤ 1. Try 1e-12
      gtol - Absolute threshold for convergence based on the gradient's norm. 0 disables test. 0 ≤ gtol. Try 1e-12
      maxIterations - Maximum number of iterations.
    • setParameters

      void setParameters​(Structure structure, SceneObservations observations)
      Specifies the optimization parameters. After this the initial fit score will return a valid value.
      Parameters:
      structure - Input: Initial parameters. Output: Optimized parameters
      observations - Observation of features in each image.
    • optimize

      boolean optimize​(Structure output)
      Optimises the parameters contained in 'structure' to minimize the error in the 'observations'. This function call will block until complete. Output is written back into 'structure'
      Parameters:
      output - Storage for optimized parameters. Can be the same structure passed into setParameters(Structure, boofcv.abst.geo.bundle.SceneObservations).
      Returns:
      true If the cost function has been improved. If the data is perfect to start with this will return false since it has not improved
    • getFitScore

      double getFitScore()
      Returns the fit score. Meaning is implementation specific.
      Returns:
      score