boofcv.alg.geo.pose

Class PnPJacobianRodrigues

java.lang.Object

boofcv.alg.geo.pose.PnPJacobianRodrigues

All Implemented Interfaces:

org.ddogleg.optimization.functions.FunctionNtoMxN

public class PnPJacobianRodrigues
extends java.lang.Object
implements org.ddogleg.optimization.functions.FunctionNtoMxN

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
PnPJacobianRodrigues()

Method Summary

Modifier and Type	Method and Description
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, double[] output)
void	setObservations(java.util.List<Point2D3D> observations)

Methods inherited from class java.lang.Object

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

Constructor Detail

PnPJacobianRodrigues

public PnPJacobianRodrigues()

Method Detail

setObservations

public void setObservations(java.util.List<Point2D3D> observations)

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

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

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

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

process

public void process(double[] input,
                    double[] output)

Specified by:

process in interface org.ddogleg.optimization.functions.FunctionNtoMxN