Package boofcv.alg.geo.triangulate

Class ResidualsTriangulateMetricSimple

java.lang.Object

boofcv.alg.geo.triangulate.ResidualsTriangulateMetricSimple

All Implemented Interfaces:

FunctionInOut, FunctionNtoM

public class ResidualsTriangulateMetricSimple
extends Object
implements FunctionNtoM

Basic error function for triangulation which only computes the residual between predicted and actual observed point location. Does not take in account the epipolar constraints.

Constructor Summary

Constructors

Constructor	Description
ResidualsTriangulateMetricSimple()

Method Summary

Modifier and Type	Method	Description
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, double[] output)
void	setObservations(List<Point2D_F64> observations, List<Se3_F64> motionGtoC)	Configures inputs.

Methods inherited from class java.lang.Object

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

Constructor Details

ResidualsTriangulateMetricSimple

public ResidualsTriangulateMetricSimple()

Method Details

setObservations

public void setObservations(List<Point2D_F64> observations,
 List<Se3_F64> motionGtoC)

Configures inputs.

Parameters:

observations - Observations of the feature at different locations. Normalized image coordinates.

motionGtoC - Camera motion from global to camera frame..

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

process

public void process(double[] input,
 double[] output)

Specified by:

process in interface FunctionNtoM