Package boofcv.alg.geo.bundle.cameras
Class BundlePinholeSnavely
java.lang.Object
boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified
boofcv.alg.geo.bundle.cameras.BundlePinholeSnavely
- All Implemented Interfaces:
BundleAdjustmentCamera
public class BundlePinholeSnavely extends BundlePinholeSimplified
Bundler and Bundle Adjustment in the Large use a different coordinate system. This
converts it into what BoofCV understands by applying a negative sign to the Z coordinate.
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Field Summary
Fields inherited from class boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified
f, k1, k2
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Constructor Summary
Constructors Constructor Description BundlePinholeSnavely()
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Method Summary
Modifier and Type Method Description void
jacobian(double X, double Y, double Z, double[] inputX, double[] inputY, 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.String
toString()
Methods inherited from class boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified
copy, getIntrinsic, getIntrinsicCount, isIdentical, reset, setIntrinsic, setTo
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Constructor Details
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BundlePinholeSnavely
public BundlePinholeSnavely()
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Method Details
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project
Description copied from interface:BundleAdjustmentCamera
Project the 3D point in the camera reference frame onto the camera's image plane.- Specified by:
project
in interfaceBundleAdjustmentCamera
- Overrides:
project
in classBundlePinholeSimplified
- Parameters:
camX
- 3D point in camera reference framecamY
- 3D point in camera reference framecamZ
- 3D point in camera reference frameoutput
- Storage for projected point.
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jacobian
public void jacobian(double X, double Y, double Z, double[] inputX, double[] inputY, boolean computeIntrinsic, @Nullable @org.jetbrains.annotations.Nullable double[] calibX, @Nullable @org.jetbrains.annotations.Nullable double[] calibY)Description copied from interface:BundleAdjustmentCamera
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.- Specified by:
jacobian
in interfaceBundleAdjustmentCamera
- Overrides:
jacobian
in classBundlePinholeSimplified
- Parameters:
X
- (Input) 3D point in camera reference frameY
- (Input) 3D point in camera reference frameZ
- (Input) 3D point in camera reference frameinputX
- (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ]
length 3inputY
- (Output) Partial of projected y' relative to input camera point.[@y'/@camX, @ y' / @ camY, @ y' / @ camZ]
length 3computeIntrinsic
- If true the calibX and calibY is computed. Otherwise they are ignored and can be nullcalibX
- (Output) Partial of projected x' relative to calibration parameters. length NcalibY
- (Output) Partial of projected y' relative to calibration parameters. length N
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toString
- Overrides:
toString
in classBundlePinholeSimplified
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