FisheyeModel.compute_pixel_jacobian

giant.camera_models.fisheye_model:

FisheyeModel.compute_pixel_jacobian(vectors_in_camera_frame, image=0, temperature=0)

This method computes the Jacobian matrix \(\partial\mathbf{x}_P/\partial\mathbf{x}_C\) where \(\mathbf{x}_C\) is a vector in the camera frame that projects to \(\mathbf{x}_P\) which is the pixel location.

This method is used in the LimbScanning process in order to predict the change in a projected pixel location with respect to a change in the projected vector. The vectors_in_camera_frame input should be a 3xn array of vectors which the Jacobian is to be computed for.

\(\mathbf{x}_C'\) is the camera frame point after applying the misalignment, \(\boldsymbol{\delta\theta}\) is the misalignment vector, \(\mathbf{x}_C\) is the camera frame point before misalignment is applied, \(\mathbf{x}_P\) is the pixel location, \(\mathbf{x}_I\) is the gnomic location, \(a_{1-3}\) are the temperature coefficients, \(T\) is the temperature, \(f_x\) is the focal length in the x direction, \(f_y\) is focal length in the y direction, \(\alpha\) is the skewness term, \(k_{1-3}\) are the radial distortion terms, \(p_{1-2}\) are the tangential distortion terms, and \(\mathbf{T}_{\boldsymbol{\delta\theta}}\) is the rotation matrix corresponding to rotation vector \(\boldsymbol{\delta\theta}\).

Parameters:

• vectors_in_camera_frame (Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]) – The vectors to compute the Jacobian at

• image (int) – The index of the image being projected onto (only applicable with multiple misalignments)

• temperature (float) – The temperature to project the points at

Returns:

The Jacobian matrix as a nx2x3 array

Return type:

ndarray