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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.factory.geo;

import boofcv.struct.Configuration;
import org.ddogleg.optimization.ConfigLoss;
import org.ddogleg.optimization.ConfigNonLinearLeastSquares;
import org.ddogleg.optimization.lm.ConfigLevenbergMarquardt;

/**
 * Configuration for {@link boofcv.abst.geo.bundle.BundleAdjustment}
 *
 * @author Peter Abeles
 */
public class ConfigBundleAdjustment implements Configuration {

	/**
	 * Used to specify which optimization routine to use and how to configure it.
	 *
	 * @see ConfigLevenbergMarquardt
	 * @see org.ddogleg.optimization.trustregion.ConfigTrustRegion
	 */
	public ConfigNonLinearLeastSquares optimizer = new ConfigNonLinearLeastSquares();

	/** Robust loss function. Defaults to no loss function */
	public ConfigLoss loss = new ConfigLoss(ConfigLoss.Type.SQUARED);

	{
		optimizer.type = ConfigNonLinearLeastSquares.Type.LEVENBERG_MARQUARDT;
	}

	@Override public void checkValidity() {

	}

	public ConfigBundleAdjustment setTo( ConfigBundleAdjustment src ) {
		// it should copy / overwrite but that isn't possible/easy. So this is the compromise
		this.optimizer.setTo(src.optimizer);
		this.loss.setTo(src.loss);
		return this;
	}
}