boofcv.struct.calib

Class CameraPinholeRadial

java.lang.Object

boofcv.struct.calib.CameraModel

boofcv.struct.calib.CameraPinhole

boofcv.struct.calib.CameraPinholeRadial

All Implemented Interfaces:

java.io.Serializable

public class CameraPinholeRadial
extends CameraPinhole
implements java.io.Serializable

Adds radial and tangential distortion to the intrinsic parameters of a pinhole camera.

Radial and Tangential Distortion:
x_d = x_n + x_n[k₁ r² + ... + k_n r²ⁿ] + dx
dx_u = [ 2t₁ u v + t₂(r² + 2u²)]
dx_v = [ t₁(r² + 2v²) + 2 t₂ u v]

r² = u² + v²
where x_d is the distorted coordinates, x_n=(u,v) is undistorted normalized image coordinates. Pixel coordinates are found x = K*[u;v]

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
double[]	radial radial distortion parameters
double	t1 tangential distortion parameters
double	t2 tangential distortion parameters

Fields inherited from class boofcv.struct.calib.CameraPinhole

cx, cy, fx, fy, serialVersionUID, skew

Fields inherited from class boofcv.struct.calib.CameraModel

height, width

Constructor Summary

Constructors

Constructor and Description
CameraPinholeRadial() Default constructor.
CameraPinholeRadial(CameraPinholeRadial param)
CameraPinholeRadial(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinholeRadial(int numRadial)

Method Summary

Modifier and Type	Method and Description
<T extends CameraModel> T	createLike() Creates a new camera model with zero values of the same type os this one
CameraPinholeRadial	fsetK(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinholeRadial	fsetRadial(double... radial)
CameraPinholeRadial	fsetTangental(double t1, double t2)
double[]	getRadial()
double	getT1()
double	getT2()
boolean	isDistorted() If true then distortion parameters are specified.
void	print()
void	set(CameraPinhole param)
void	setRadial(double... radial)
void	setT1(double t1)
void	setT2(double t2)

Methods inherited from class boofcv.struct.calib.CameraPinhole

getCx, getCy, getFx, getFy, getSkew, setCx, setCy, setFx, setFy, setSkew

Methods inherited from class boofcv.struct.calib.CameraModel

getHeight, getWidth, setHeight, setWidth

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

radial

public double[] radial

radial distortion parameters

t1

public double t1

tangential distortion parameters

t2

public double t2

tangential distortion parameters

Constructor Detail

CameraPinholeRadial

public CameraPinholeRadial()

Default constructor. flipY is false and everything else is zero or null.

CameraPinholeRadial

public CameraPinholeRadial(int numRadial)

CameraPinholeRadial

public CameraPinholeRadial(CameraPinholeRadial param)

CameraPinholeRadial

public CameraPinholeRadial(double fx,
                           double fy,
                           double skew,
                           double cx,
                           double cy,
                           int width,
                           int height)

Method Detail

fsetK

public CameraPinholeRadial fsetK(double fx,
                                 double fy,
                                 double skew,
                                 double cx,
                                 double cy,
                                 int width,
                                 int height)

Overrides:

fsetK in class CameraPinhole

fsetRadial

public CameraPinholeRadial fsetRadial(double... radial)

fsetTangental

public CameraPinholeRadial fsetTangental(double t1,
                                         double t2)

set

public void set(CameraPinhole param)

Overrides:

set in class CameraPinhole

isDistorted

public boolean isDistorted()

If true then distortion parameters are specified.

getRadial

public double[] getRadial()

setRadial

public void setRadial(double... radial)

getT1

public double getT1()

setT1

public void setT1(double t1)

getT2

public double getT2()

setT2

public void setT2(double t2)

print

public void print()

Overrides:

print in class CameraPinhole

createLike

public <T extends CameraModel> T createLike()

Description copied from class: CameraModel

Creates a new camera model with zero values of the same type os this one

Overrides:

createLike in class CameraPinhole