private void addTranslationJacobian ( Point3D_F64 cameraPt ) { double divZ = 1.0 / cameraPt . z ; double divZ2 = 1.0 / ( cameraPt . z * cameraPt . z ) ; // partial T.x output [ indexX ++ ] = divZ ; output [ indexY ++ ] = 0 ; // partial T.y output [ indexX ++ ] = 0 ; output [ indexY ++ ] = divZ ; // partial T.z output [ indexX ++ ] = - cameraPt . x * divZ2 ; output [ indexY ++ ] = - cameraPt . y * divZ2 ; }
Derivative for translation element