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))*∑ij ||xj - (1/z)*[Ri|Ti]*Xj||2

See Also:
SceneStructureMetric, SceneObservations