Package boofcv.alg.geo.bundle

Class BundleAdjustmentMetricSchurJacobian<M extends DMatrix>

java.lang.Object

boofcv.alg.geo.bundle.BundleAdjustmentMetricSchurJacobian<M>

All Implemented Interfaces:

BundleAdjustmentSchur.Jacobian<SceneStructureMetric,M>, FunctionInOut, SchurJacobian<M>

Direct Known Subclasses:

BundleAdjustmentMetricSchurJacobian_DDRM, BundleAdjustmentMetricSchurJacobian_DSCC

public abstract class BundleAdjustmentMetricSchurJacobian<M extends DMatrix>
extends Object
implements BundleAdjustmentSchur.Jacobian<SceneStructureMetric,M>

Computes the Jacobian for bundle adjustment with a Schur implementation. This is the base class for specific types of matrices

Field Summary

Fields

Modifier and Type	Field	Description
JacobianSo3	jacSO3	Specifies method to parameterize rotations, i.e.

Constructor Summary

Constructors

Constructor	Description
BundleAdjustmentMetricSchurJacobian()

Method Summary

Modifier and Type	Method	Description
protected abstract void	add(DMatrix matrix, int row, int col, double value)	Abstract interface for adding the value of a matrix without knowing the type of matrix.
void	configure(SceneStructureMetric structure, SceneObservations observations)
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	internalProcess(double[] input, DMatrix leftPoint, DMatrix rightView)	Internal matrix type agnostic process function.
protected void	lookupWorldToView(SceneStructureMetric.View v, Se3_F64 world_to_view)	Returns a transform from the world_to_view.
protected abstract void	set(DMatrix matrix, int row, int col, double value)	Abstract interface for settings the value of a matrix without knowing the type of matrix

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.ddogleg.optimization.functions.SchurJacobian

process

Field Details

jacSO3

public JacobianSo3 jacSO3

Specifies method to parameterize rotations, i.e. Rodrigues to SO3

Constructor Details

BundleAdjustmentMetricSchurJacobian

public BundleAdjustmentMetricSchurJacobian()

Method Details

configure

public void configure(SceneStructureMetric structure,
 SceneObservations observations)

Specified by:

configure in interface BundleAdjustmentSchur.Jacobian<SceneStructureMetric,M extends DMatrix>

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

internalProcess

public void internalProcess(double[] input,
 DMatrix leftPoint,
 DMatrix rightView)

Internal matrix type agnostic process function.

Parameters:

input - Input parameters describing the current state of the optimization

leftPoint - Storage for left Jacobian

rightView - Storage for right Jacobian

set

protected abstract void set(DMatrix matrix,
 int row,
 int col,
 double value)

Abstract interface for settings the value of a matrix without knowing the type of matrix

add

protected abstract void add(DMatrix matrix,
 int row,
 int col,
 double value)

Abstract interface for adding the value of a matrix without knowing the type of matrix. The matrix is assumed to have been initialized to zero.

lookupWorldToView

protected void lookupWorldToView(SceneStructureMetric.View v,
 Se3_F64 world_to_view)

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.