boofcv.abst.geo.triangulate.LeastSquaresTriangulateEpipolar Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of geo Show documentation

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

There is a newer version: 0.26

/*
 * Copyright (c) 2011-2013, 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.abst.geo.triangulate;

import boofcv.abst.geo.RefineTriangulationEpipolar;
import boofcv.alg.geo.triangulate.ResidualsTriangulateSampson;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import org.ddogleg.optimization.FactoryOptimization;
import org.ddogleg.optimization.UnconstrainedLeastSquares;
import org.ejml.data.DenseMatrix64F;

import java.util.List;

/**
 * Nonlinear least squares triangulation.
 *
 * @author Peter Abeles
 */
public class LeastSquaresTriangulateEpipolar implements RefineTriangulationEpipolar {

	ResidualsTriangulateSampson func = new ResidualsTriangulateSampson();

	UnconstrainedLeastSquares minimizer;

	double param[] = new double[3];
	int maxIterations;
	double convergenceTol;

	public LeastSquaresTriangulateEpipolar(double convergenceTol, int maxIterations)
	{
		this.maxIterations = maxIterations;
		this.convergenceTol = convergenceTol;
		minimizer = FactoryOptimization.leastSquareLevenberg( 1e-3);
	}

	@Override
	public boolean process(List observations,
						   List fundamentalWorldToCam,
						   Point3D_F64 worldPt, Point3D_F64 refinedPt)
	{
		func.setObservations(observations, fundamentalWorldToCam);
		minimizer.setFunction(func,null);

		// the parameter being optimized is the world point location
		param[0] = worldPt.x;
		param[1] = worldPt.y;
		param[2] = worldPt.z;

		minimizer.initialize(param,0,convergenceTol*observations.size());

		for( int i = 0; i < maxIterations; i++ ) {
			if( minimizer.iterate() )
				break;
		}

		double found[] = minimizer.getParameters();
		refinedPt.x = found[0];
		refinedPt.y = found[1];
		refinedPt.z = found[2];

		return true;
	}
}