Package boofcv.alg.geo.bundle

Class BundleAdjustmentMetricResidualFunction

java.lang.Object

boofcv.alg.geo.bundle.BundleAdjustmentMetricResidualFunction

All Implemented Interfaces:

BundleAdjustmentSchur.FunctionResiduals<SceneStructureMetric>, FunctionInOut, FunctionNtoM

public class BundleAdjustmentMetricResidualFunction
extends Object
implements BundleAdjustmentSchur.FunctionResiduals<SceneStructureMetric>

Computes observations errors/residuals for metric bundle adjustment as implemented using UnconstrainedLeastSquares. Parameterization is done using the format in CodecSceneStructureMetric.

cost(P) = (1/(m*n))*∑_i ∑_j ||x_j - (1/z)*[R_i|T_i]*X_j||²

See Also:

• SceneStructureMetric
• SceneObservations

Constructor Summary

Constructors

Constructor	Description
BundleAdjustmentMetricResidualFunction()

Method Summary

Modifier and Type	Method	Description
void	configure(SceneStructureMetric structure, SceneObservations observations)	Specifies the scenes structure and observed feature locations
int	getNumOfInputsN()
int	getNumOfOutputsM()
protected Se3_F64	lookupWorldToView(SceneStructureMetric.View v)	Returns a transform from the world_to_view.
void	process(double[] output)	Computes the residuals and skips decoding the current parameters.
void	process(double[] input, double[] output)

Methods inherited from class java.lang.Object

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

Constructor Details

BundleAdjustmentMetricResidualFunction

public BundleAdjustmentMetricResidualFunction()

Method Details

configure

public void configure(SceneStructureMetric structure,
 SceneObservations observations)

Specifies the scenes structure and observed feature locations

Specified by:

configure in interface BundleAdjustmentSchur.FunctionResiduals<SceneStructureMetric>

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

process

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

Specified by:

process in interface FunctionNtoM

process

public void process(double[] output)

Computes the residuals and skips decoding the current parameters. Useful when you are using this to compute the residuals and not optimizing

lookupWorldToView

protected Se3_F64 lookupWorldToView(SceneStructureMetric.View v)

Returns a transform from the world_to_view. If relative then the parent's world to view is look up and used to compute this view's transform and the results are saved.