boofcv.alg.geo.pose

Class PnPStereoJacobianRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPStereoJacobianRodrigues

All Implemented Interfaces:

org.ddogleg.optimization.functions.FunctionInOut, org.ddogleg.optimization.functions.FunctionNtoMxN<org.ejml.data.DMatrixRMaj>

public class PnPStereoJacobianRodrigues
extends java.lang.Object
implements org.ddogleg.optimization.functions.FunctionNtoMxN<org.ejml.data.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 and Description
PnPStereoJacobianRodrigues()

Method Summary

Modifier and Type	Method and Description
org.ejml.data.DMatrixRMaj	declareMatrixMxN()
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, org.ejml.data.DMatrixRMaj J)
void	setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)
void	setObservations(java.util.List<Stereo2D3D> observations)

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPStereoJacobianRodrigues

public PnPStereoJacobianRodrigues()

Method Detail

setObservations

public void setObservations(java.util.List<Stereo2D3D> observations)

setLeftToRight

public void setLeftToRight(georegression.struct.se.Se3_F64 leftToRight)

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface org.ddogleg.optimization.functions.FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface org.ddogleg.optimization.functions.FunctionInOut

process

public void process(double[] input,
                    org.ejml.data.DMatrixRMaj J)

Specified by:

process in interface org.ddogleg.optimization.functions.FunctionNtoMxN<org.ejml.data.DMatrixRMaj>

declareMatrixMxN

public org.ejml.data.DMatrixRMaj declareMatrixMxN()

Specified by:

declareMatrixMxN in interface org.ddogleg.optimization.functions.FunctionNtoMxN<org.ejml.data.DMatrixRMaj>