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java.lang.Objectsugr.Element
sugr.Transformation
sugr.Homography_3D
sugr.Affinity_3D
sugr.ScaledMotion_3D
sugr.Motion_3D
This matrix contains Translation (3 parameters) and Rotation(3 parameters) in 3D just as needed for exterior orientation, for example.
Field Summary | |
private static long |
serialVersionUID
Class version number for serialization |
Fields inherited from class sugr.Homography_3D |
DIM |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Motion_3D()
standard constructor. |
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Motion_3D(Translation_3D trans,
Rotation_3D rot)
creates a motion by a given Translation_3D and a Rotation_3D |
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Motion_3D(Translation_3D trans,
Rotation_3D rot,
Matrix cov)
creates a motion with covariance by a given Translation_3D and a Rotation_3D |
Method Summary | |
boolean |
estimate(RelationalProperty[] rprops,
boolean doConditioning,
int maxiter,
RelationalProperty[] yhat,
double[] sigma0,
int[] no_of_iterations,
boolean estimate_sigma0)
Estimation of that entity out of given relational properties. |
protected Vector |
getConstraintValue()
Get the value of the constraint (h(beta) or g(y)) if this entity is an unknown or an observation. |
int |
getDegreesOfFreedom()
Returns the number of elements to specify this transformation |
Matrix |
getJacobianOfConstraint()
Get the Jacobian of the constraint (H, G) if this entity is an unkown or an observation. |
void |
printConstraint()
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Methods inherited from class sugr.ScaledMotion_3D |
approximate |
Methods inherited from class sugr.Homography_3D |
doCondition, getDimCol, getDimRow, getJacobianAfterFirst, getJacobianAfterSecond, getLineMatrix, getPlaneMatrix, getPointMatrix, transform |
Methods inherited from class sugr.Transformation |
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform |
Methods inherited from class sugr.Element |
calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getCov, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
Constructor Detail |
public Motion_3D()
public Motion_3D(Translation_3D trans, Rotation_3D rot)
trans
- contains the Translation-matrixrot
- contains the rotation-matrixpublic Motion_3D(Translation_3D trans, Rotation_3D rot, Matrix cov)
trans
- contains the Translation-matrixrot
- contains the rotation-matrixcov
- 16x16 matrixMethod Detail |
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class ScaledMotion_3D
public boolean estimate(RelationalProperty[] rprops, boolean doConditioning, int maxiter, RelationalProperty[] yhat, double[] sigma0, int[] no_of_iterations, boolean estimate_sigma0)
estimate
in class Element
rprops
- the observationsdoConditioning
- if true, a conditioning is done.maxiter
- maximum number of iterations.yhat
- corrected observations, spherically normalized. yhat=y-ehat.sigma0
- sigma0 of the last iterations (sqrt(sigma2)) as
an output parameter (array with 1 element)no_of_iterations
- number of iterations computed (output
parameter: array with 1 element)
protected Vector getConstraintValue()
getConstraintValue
in class ScaledMotion_3D
public void printConstraint()
public Matrix getJacobianOfConstraint()
getJacobianOfConstraint
in class ScaledMotion_3D
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