Package boofcv.abst.geo.bundle

Interface BundleAdjustmentCamera

All Known Implementing Classes:
BundleCameraProjective, BundleDummyCamera, BundleKannalaBrandt, BundlePinhole, BundlePinholeBrown, BundlePinholeSimplified, BundlePinholeSnavely, BundleUniversalOmni
public interface BundleAdjustmentCamera
Generalized camera model for bundle adjustment. By implementing this function you can swap in and out arbitrary camera models.

  • Method Summary

    Modifier and Type Method Description
    void getIntrinsic​(double[] parameters, int offset)
    Copies the intrinsic camera into the array.
    int getIntrinsicCount()
    Returns the number of intrinsic parameters for this model.
    void jacobian​(double camX, double camY, double camZ, double[] pointX, double[] pointY, boolean computeIntrinsic, @org.jetbrains.annotations.Nullable double[] calibX, @org.jetbrains.annotations.Nullable double[] calibY)
    Computes the gradient for the projected pixel coordinate with partials for the input 3D point in camera reference frame and camera intrinsic parameters.
    void project​(double camX, double camY, double camZ, Point2D_F64 output)
    Project the 3D point in the camera reference frame onto the camera's image plane.
    void setIntrinsic​(double[] parameters, int offset)
    Specifies the intrinsic camera parameters.

  • Method Details

    • setIntrinsic

      void setIntrinsic​(double[] parameters, int offset)
      Specifies the intrinsic camera parameters.
      Parameters:
      parameters - Array containing the parameters
      offset - Location of first index in the array which the parameters are stored

    • getIntrinsic

      void getIntrinsic​(double[] parameters, int offset)
      Copies the intrinsic camera into the array.
      Parameters:
      parameters - Array containing the parameters
      offset - Location of first index in the array which the parameters are stored

    • project

      void project​(double camX, double camY, double camZ, Point2D_F64 output)
      Project the 3D point in the camera reference frame onto the camera's image plane.
      Parameters:
      camX - 3D point in camera reference frame
      camY - 3D point in camera reference frame
      camZ - 3D point in camera reference frame
      output - Storage for projected point.

    • jacobian

      void jacobian​(double camX, double camY, double camZ, double[] pointX, double[] pointY, boolean computeIntrinsic, @Nullable @org.jetbrains.annotations.Nullable double[] calibX, @Nullable @org.jetbrains.annotations.Nullable double[] calibY)
      Computes the gradient for the projected pixel coordinate with partials for the input 3D point in camera reference frame and camera intrinsic parameters. [x',y'] is the projected pixel coordinate of the 3D point in camera reference frame.
      Parameters:
      camX - (Input) 3D point in camera reference frame
      camY - (Input) 3D point in camera reference frame
      camZ - (Input) 3D point in camera reference frame
      pointX - (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ] length 3
      pointY - (Output) Partial of projected y' relative to input camera point.[@y'/@camX, @ y' / @ camY, @ y' / @ camZ] length 3
      computeIntrinsic - If true the calibX and calibY is computed. Otherwise they are ignored and can be null
      calibX - (Output) Partial of projected x' relative to calibration parameters. length N
      calibY - (Output) Partial of projected y' relative to calibration parameters. length N

    • getIntrinsicCount

      int getIntrinsicCount()
      Returns the number of intrinsic parameters for this model. If the camera is known then the number of parameters is zero
      Returns:
      number of intrinsic parameters.