Package boofcv.abst.geo.bundle

Class BundleAdjustmentSchur<Structure extends SceneStructure,M extends DMatrix>

java.lang.Object

boofcv.abst.geo.bundle.BundleAdjustmentSchur<Structure,M>

All Implemented Interfaces:

BundleAdjustment<Structure>, Stoppable, VerbosePrint

Direct Known Subclasses:

BundleAdjustmentSchur_DDRM, BundleAdjustmentSchur_DSCC

public class BundleAdjustmentSchur<Structure extends SceneStructure,M extends DMatrix>
extends Object
implements BundleAdjustment<Structure>

Implementation of bundle adjustment using Shur Complement and generic sparse matrices.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	BundleAdjustmentSchur.Codec<Structure extends SceneStructure>
static interface	BundleAdjustmentSchur.FunctionResiduals<Structure extends SceneStructure>
static interface	BundleAdjustmentSchur.Jacobian<Structure extends SceneStructure,M extends DMatrix>

Nested classes/interfaces inherited from interface org.ddogleg.struct.Stoppable

Stoppable.Stopped

Constructor Summary

Constructors

Constructor	Description
BundleAdjustmentSchur(UnconstrainedLeastSquaresSchur<M> minimizer, BundleAdjustmentSchur.FunctionResiduals<Structure> function, BundleAdjustmentSchur.Jacobian<Structure,M> jacobian, BundleAdjustmentSchur.Codec<Structure> codec)

Method Summary

Modifier and Type	Method	Description
void	configure(double ftol, double gtol, int maxIterations)	Configures optimization parameters.
double	getFitScore()	Returns the fit score.
boolean	isStopRequested()
boolean	optimize(Structure output)	Optimises the parameters contained in 'structure' to minimize the error in the 'observations'.
void	requestStop()
void	setParameters(Structure structure, SceneObservations observations)	Specifies the optimization parameters.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Constructor Details

BundleAdjustmentSchur

public BundleAdjustmentSchur(UnconstrainedLeastSquaresSchur<M> minimizer,
 BundleAdjustmentSchur.FunctionResiduals<Structure> function,
 BundleAdjustmentSchur.Jacobian<Structure,M> jacobian,
 BundleAdjustmentSchur.Codec<Structure> codec)

Method Details

configure

public void configure(double ftol,
 double gtol,
 int maxIterations)

Description copied from interface: BundleAdjustment

Configures optimization parameters. meaning of all of these parameters is implementation dependent. They might even be ignored.

Specified by:

configure in interface BundleAdjustment<Structure extends SceneStructure>

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

public void setParameters(Structure structure,
 SceneObservations observations)

Description copied from interface: BundleAdjustment

Specifies the optimization parameters. After this the initial fit score will return a valid value.

Specified by:

setParameters in interface BundleAdjustment<Structure extends SceneStructure>

Parameters:

structure - Input: Initial parameters. Output: Optimized parameters

observations - Observation of features in each image.

optimize

public boolean optimize(Structure output)

Description copied from interface: BundleAdjustment

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'

Specified by:

optimize in interface BundleAdjustment<Structure extends SceneStructure>

Parameters:

output - Storage for optimized parameters. Can be the same structure passed into BundleAdjustment.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

public double getFitScore()

Description copied from interface: BundleAdjustment

Returns the fit score. Meaning is implementation specific.

Specified by:

getFitScore in interface BundleAdjustment<Structure extends SceneStructure>

Returns:

score

requestStop

public void requestStop()

Specified by:

requestStop in interface Stoppable

isStopRequested

public boolean isStopRequested()

Specified by:

isStopRequested in interface Stoppable

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint