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.

Field Summary

Fields inherited from class boofcv.alg.geo.bundle.cameras.BundlePinholeSimplified

f, k1, k2

Constructor Summary

Constructors

Constructor	Description
BundlePinholeSnavely()

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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

BundlePinholeSnavely

public BundlePinholeSnavely()

Method Details

project

public void project(double camX,
 double camY,
 double camZ,
 Point2D_F64 output)

Description copied from interface: BundleAdjustmentCamera

Project the 3D point in the camera reference frame onto the camera's image plane.

Specified by:

project in interface BundleAdjustmentCamera

Overrides:

project in class BundlePinholeSimplified

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

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 interface BundleAdjustmentCamera

Overrides:

jacobian in class BundlePinholeSimplified

Parameters:

X - (Input) 3D point in camera reference frame

Y - (Input) 3D point in camera reference frame

Z - (Input) 3D point in camera reference frame

inputX - (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ] length 3

inputY - (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

toString

public String toString()

Overrides:

toString in class BundlePinholeSimplified