Package boofcv.alg.geo.bundle

Class BundleAdjustmentProjectiveSchurJacobian<M extends DMatrix>

java.lang.Object

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

All Implemented Interfaces:

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

Direct Known Subclasses:

BundleAdjustmentProjectiveSchurJacobian_DDRM, BundleAdjustmentProjectiveSchurJacobian_DSCC

public abstract class BundleAdjustmentProjectiveSchurJacobian<M extends DMatrix>
extends Object
implements BundleAdjustmentSchur.Jacobian<SceneStructureProjective,M>

Computes the Jacobian for BundleAdjustmentSchur for generic matrices.

Constructor Summary

Constructors

Constructor	Description
BundleAdjustmentProjectiveSchurJacobian()

Method Summary

Modifier and Type	Method	Description
void	configure(SceneStructureProjective structure, SceneObservations observations)
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	processInternal(double[] input, DMatrix leftPoint, DMatrix rightView)	Internal matrix type agnostic process function.
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

Constructor Details

BundleAdjustmentProjectiveSchurJacobian

public BundleAdjustmentProjectiveSchurJacobian()

Method Details

configure

public void configure(SceneStructureProjective structure,
 SceneObservations observations)

Specified by:

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

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

processInternal

public void processInternal(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