Class CodecSceneStructureMetric

java.lang.Object
boofcv.alg.geo.bundle.CodecSceneStructureMetric
All Implemented Interfaces:
BundleAdjustmentSchur.Codec<SceneStructureMetric>

public class CodecSceneStructureMetric
extends Object
implements BundleAdjustmentSchur.Codec<SceneStructureMetric>
Encodes and decodes the values in a SceneStructureMetric using the following parameterization:
     RT = (rodX rodY rodZ Tx Ty Tz)
 [ (X Y Z)*M ][  RT*len(rigid)  ][  RT*len(views) ][ intrinsic*O ]
 [ features  ][    rigid        ][    views       ][ camera      ]
 
Default encoding for rotation matrix is JacobianSo3Rodrigues