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).

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 parameters
`void`	`jacobianPoint(double camX, double camY, double camZ, double[] pointX, double[] pointY)`	Computes Jacobian for Point
`void`	`setModel(BundleAdjustmentCamera model)`	Specifies the camera model.

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

Constructor Details
- BundleCameraNumericJacobian
  
  public BundleCameraNumericJacobian()
Method Details
- setModel
  
  public void setModel(BundleAdjustmentCamera model)
  
  Specifies the camera model. The current state of its intrinsic parameters
- createNumericalAlgorithm
  
  protected FunctionNtoMxN<DMatrixRMaj> createNumericalAlgorithm(FunctionNtoM function)
- 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 frame
  
  camY - 3D point in camera reference frame
  
  camZ - 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
- 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 frame
  
  camY - 3D point in camera reference frame
  
  camZ - 3D point in camera reference frame
  
  calibX - (Output) Partial of projected x' relative to calibration parameters. length N
  
  calibY - (Output) Partial of projected y' relative to calibration parameters. length N

Class BundleCameraNumericJacobian