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 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