Package boofcv.alg.geo.bundle

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

Field Summary

Fields

Modifier and Type	Field	Description
JacobianSo3	rotation	Specifies encoding/decoding of rotation for bundle adjustment.

Constructor Summary

Constructors

Constructor	Description
CodecSceneStructureMetric()
CodecSceneStructureMetric(JacobianSo3 rotation)

Method Summary

Modifier and Type	Method	Description
void	decode(double[] input, SceneStructureMetric structure)
void	encode(SceneStructureMetric structure, double[] output)

Methods inherited from class java.lang.Object

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

Field Details

rotation

public JacobianSo3 rotation

Specifies encoding/decoding of rotation for bundle adjustment. Default is JacobianSo3Rodrigues

Constructor Details

CodecSceneStructureMetric

public CodecSceneStructureMetric()

CodecSceneStructureMetric

public CodecSceneStructureMetric(JacobianSo3 rotation)

Method Details

decode

public void decode(double[] input,
 SceneStructureMetric structure)

Specified by:

decode in interface BundleAdjustmentSchur.Codec<SceneStructureMetric>

encode

public void encode(SceneStructureMetric structure,
 double[] output)

Specified by:

encode in interface BundleAdjustmentSchur.Codec<SceneStructureMetric>