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).

Constructor Summary

Constructors

Constructor	Description
BundleCameraNumericJacobian()

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.

Methods inherited from class java.lang.Object

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