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.
  • 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