OpenCVModel.compute_unit_vector_jacobian

giant.camera_models.opencv_model:

OpenCVModel.compute_unit_vector_jacobian(pixel_locations, image=0, temperature=0)

This method computes the Jacobian matrix \(\partial\mathbf{x}_C/\partial\mathbf{x}_P\) 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 the unit vector that projects to a pixel location with respect to a change in the pixel location. The pixel_locations input should be a 2xn array of vectors which the Jacobian is to be computed for.

Parameters:

  • pixel_locations (Sequence | ndarray) – The pixel locations to compute the Jacobian at

  • image (int) – The number of the image we are computing the Jacobian for

  • temperature (Real) – The temperature to compute the Jacobian at

Returns:

The Jacobian matrix as a nx3x2 array

Return type:

ndarray