Package boofcv.alg.geo.bundle.jacobians
Class BundleCameraNumericJacobian
java.lang.Object
boofcv.alg.geo.bundle.jacobians.BundleCameraNumericJacobian
public class BundleCameraNumericJacobian extends Object
Computes numerical jacobian from
BundleAdjustmentCamera
. The specific numerical Jacobian
algorithm is configurable by overriding createNumericalAlgorithm(FunctionNtoM)
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Constructor Summary
Constructors Constructor Description BundleCameraNumericJacobian()
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Method Summary
Modifier and Type Method Description protected FunctionNtoMxN<DMatrixRMaj>
createNumericalAlgorithm(FunctionNtoM function)
void
jacobianIntrinsics(double camX, double camY, double camZ, double[] calibX, double[] calibY)
Computes Jacobian for intrinsic parametersvoid
jacobianPoint(double camX, double camY, double camZ, double[] pointX, double[] pointY)
Computes Jacobian for Pointvoid
setModel(BundleAdjustmentCamera model)
Specifies the camera model.
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Constructor Details
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BundleCameraNumericJacobian
public BundleCameraNumericJacobian()
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Method Details
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setModel
Specifies the camera model. The current state of its intrinsic parameters -
createNumericalAlgorithm
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jacobianPoint
public void jacobianPoint(double camX, double camY, double camZ, double[] pointX, double[] pointY)Computes Jacobian for Point- Parameters:
camX
- 3D point in camera reference framecamY
- 3D point in camera reference framecamZ
- 3D point in camera reference framepointX
- (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ]
length 3pointY
- (Output) Partial of projected y' relative to input camera point.[@y'/@camX, @ y' / @ camY, @ y' / @ camZ]
length 3
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jacobianIntrinsics
public void jacobianIntrinsics(double camX, double camY, double camZ, double[] calibX, double[] calibY)Computes Jacobian for intrinsic parameters- Parameters:
camX
- 3D point in camera reference framecamY
- 3D point in camera reference framecamZ
- 3D point in camera reference framecalibX
- (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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