Struct cam_geom::linearize::JacobianPerspectiveCache

pub struct JacobianPerspectiveCache<R: RealField> { /* private fields */ }

Required data required for finding Jacobian of perspective camera models.

Create this with the new() method.

Implementations

impl<R: RealField> JacobianPerspectiveCache<R>

pub fn new(cam: &Camera<R, IntrinsicParametersPerspective<R>>) -> Self

Create a new JacobianPerspectiveCache from a Camera with a perspective model.

pub fn linearize_at<STORAGE>( &self, p: &Points<WorldFrame, R, U1, STORAGE> ) -> SMatrix<R, 2, 3>

where STORAGE: Storage<R, U1, U3>,

Linearize camera model by evaluating around input point p.

Returns Jacobian matrix A (shape 2x3) such that Ao = (u,v) where o is 3D world coords offset from p and (u,v) are the shift in pixel coords from the projected location of p. In other words, for a camera model F(x), if F(p) = (a,b) and `F(p+o) = (a,b)

• Ao = (a,b) + (u,v) = (a+u,b+v), this function returns A`.