Package boofcv.alg.geo.pose

Class PnPJacobianRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPJacobianRodrigues

All Implemented Interfaces:

FunctionInOut, FunctionNtoMxN<DMatrixRMaj>

public class PnPJacobianRodrigues
extends Object
implements FunctionNtoMxN<DMatrixRMaj>

Computes the Jacobian of the error function in PnPResidualReprojection. For a calibrated camera given observations in normalized image coordinates. The rotation matrix is assumed to be parameterized using Rodrigues_F64 coordinates.

Constructor Summary

Constructors

Constructor	Description
PnPJacobianRodrigues()

Method Summary

Modifier and Type	Method	Description
DMatrixRMaj	declareMatrixMxN()
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, DMatrixRMaj J)
void	setObservations(List<Point2D3D> observations)

Methods inherited from class java.lang.Object

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

Constructor Details

PnPJacobianRodrigues

public PnPJacobianRodrigues()

Method Details

setObservations

public void setObservations(List<Point2D3D> observations)

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

process

public void process(double[] input,
 DMatrixRMaj J)

Specified by:

process in interface FunctionNtoMxN<DMatrixRMaj>

declareMatrixMxN

public DMatrixRMaj declareMatrixMxN()

Specified by:

declareMatrixMxN in interface FunctionNtoMxN<DMatrixRMaj>