Package boofcv.alg.geo.bundle.jacobians

Class JacobianSo3Numerical

java.lang.Object

boofcv.alg.geo.bundle.jacobians.JacobianSo3Numerical

All Implemented Interfaces:

JacobianSo3

public abstract class JacobianSo3Numerical
extends Object
implements JacobianSo3

Implements a numerical Jacobian for the SO3

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	JacobianSo3Numerical()

Method Summary

Modifier and Type	Method	Description
abstract void	computeRotationMatrix(double[] parameters, int offset, DMatrixRMaj R)	Computes rotation matrix given the parameters
protected FunctionNtoMxN<DMatrixRMaj>	createNumericalAlgorithm(FunctionNtoM function)	Creates numerical Jacobian algorithm.
DMatrixRMaj	getPartial(int param)
DMatrixRMaj	getRotationMatrix()
void	init()	Initializes data structures.
void	setParameters(double[] parameters, int offset)

Methods inherited from class java.lang.Object

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

Methods inherited from interface boofcv.alg.geo.bundle.jacobians.JacobianSo3

getParameterLength, getParameters, newInstance

Constructor Details

JacobianSo3Numerical

protected JacobianSo3Numerical()

Method Details

init

public void init()

Initializes data structures. Separate function to make it easier to extend the class

createNumericalAlgorithm

protected FunctionNtoMxN<DMatrixRMaj> createNumericalAlgorithm(FunctionNtoM function)

Creates numerical Jacobian algorithm. Override to change algorithm/settings

setParameters

public void setParameters(double[] parameters,
 int offset)

Specified by:

setParameters in interface JacobianSo3

computeRotationMatrix

public abstract void computeRotationMatrix(double[] parameters,
 int offset,
 DMatrixRMaj R)

Computes rotation matrix given the parameters

getPartial

public DMatrixRMaj getPartial(int param)

Specified by:

getPartial in interface JacobianSo3

getRotationMatrix

public DMatrixRMaj getRotationMatrix()

Specified by:

getRotationMatrix in interface JacobianSo3