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()
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Method Summary
Modifier and Type Method Description DMatrixRMaj
declareMatrixMxN()
int
getNumOfInputsN()
int
getNumOfOutputsM()
void
process(double[] input, DMatrixRMaj J)
void
setObservations(List<Point2D3D> observations)
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Constructor Details
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PnPJacobianRodrigues
public PnPJacobianRodrigues()
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Method Details
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setObservations
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getNumOfInputsN
public int getNumOfInputsN()- Specified by:
getNumOfInputsN
in interfaceFunctionInOut
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getNumOfOutputsM
public int getNumOfOutputsM()- Specified by:
getNumOfOutputsM
in interfaceFunctionInOut
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process
- Specified by:
process
in interfaceFunctionNtoMxN<DMatrixRMaj>
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declareMatrixMxN
- Specified by:
declareMatrixMxN
in interfaceFunctionNtoMxN<DMatrixRMaj>
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