code: public void jacobianPoint( double camX, double camY, double camZ,
  							   @Nonnull double pointX[], @Nonnull double pointY[]) {
  		funcPoint.setParameters(intrinsic);
  		X[0] = camX;X[1] = camY;X[2] = camZ;
  		jacobian.reshape(2,3);
  		numericalPoint.process(X,jacobian);
  
  		for (int i = 0; i < 3; i++) {
  			pointX[i] = jacobian.data[i];
  			pointY[i] = jacobian.data[i+3];
  		}
  	}
docs: Computes Jacobian for Point
  
  @param camX 3D point in camera reference frame
  @param camY 3D point in camera reference frame
  @param camZ 3D point in camera reference frame
  @param pointX (Output) Partial of projected x' relative to input camera point.<code>[@x'/@camX, @ x' / @ camY, @ x' / @ camZ]</code> length 3
  @param pointY (Output) Partial of projected y' relative to input camera point.<code>[@y'/@camX, @ y' / @ camY, @ y' / @ camZ]</code> length 3