SphericalCamera.visjac_p

SphericalCamera.visjac_p(p: ndarray | float | int | list[float | int] | tuple[float | int, ...], depth: float | ndarray | None = None) → ndarray

Visual Jacobian for point features

Parameters:

• p (array_like(2) or ndarray(2,N)) – image plane points

• depth (float or array_like(N), optional) – point depth, defaults to None

Returns:

visual Jacobian

Return type:

ndarray(2,6) or ndarray(2N,6)

Compute the image Jacobian \(\mat{J}\) which maps

\[\dvec{p} = \mat{J}(\vec{p}, z) \vec{\nu}\]

camera spatial velocity \(\vec{\nu}\) to the image plane velocity \(\dvec{p}\) of the point where \(\vec{p}=(\phi, \theta)\)

If p describes multiple points then return a stack of these \(2\times 6\) matrices, one per point.

Depth is the z-component of the point’s coordinate in the camera frame. If depth is a scalar then it is the depth for all points.