Package boofcv.alg.distort.kanbra

Class KannalaBrandtPtoS_F64

java.lang.Object

boofcv.alg.distort.kanbra.KannalaBrandtPtoS_F64

All Implemented Interfaces:

Point2Transform3_F64, VerbosePrint

public class KannalaBrandtPtoS_F64
extends Object
implements Point2Transform3_F64, VerbosePrint

Backwards project from a distorted 2D pixel to 3D unit sphere coordinate using the CameraKannalaBrandt model. Newton's method is used to invert the distorted coordinates [dx, dy] (Eq. 10). This is different from the original paper which uses a taylor series to approximate the function and no iteration.

Field Summary

Fields

Modifier and Type	Field	Description
final ConfigConverge	converge	Specifies convergence criteria
protected final CameraKannalaBrandt	model
double	realNumberTol	A complex number is considered real if the imaginary component has a magnitude ≤ this value
PolynomialRoots	rootFinder	Used to solve for theta

Constructor Summary

Constructors

Constructor	Description
KannalaBrandtPtoS_F64(CameraKannalaBrandt model)

Method Summary

Modifier and Type	Method	Description
void	compute(double x, double y, Point3D_F64 out)	Applies transformation
Point2Transform3_F64	copyConcurrent()	Creates a copy of this transform for use in concurrent application.
protected void	jacobianOfDistorted(double theta, double cosphi, double sinphi, DMatrix2x2 gradient)	Computes the Jacobian of the distorted coordinates [dx, dy].
protected void	newtonsMethodUpdateThetaphi(double theta, double phi, double r)	Invert the function using Newton's method.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

realNumberTol

public double realNumberTol

A complex number is considered real if the imaginary component has a magnitude ≤ this value

converge

public final ConfigConverge converge

Specifies convergence criteria

model

protected final CameraKannalaBrandt model

rootFinder

public PolynomialRoots rootFinder

Used to solve for theta

Constructor Details

KannalaBrandtPtoS_F64

public KannalaBrandtPtoS_F64(CameraKannalaBrandt model)

Method Details

compute

public void compute(double x,
 double y,
 Point3D_F64 out)

Description copied from interface: Point2Transform3_F64

Applies transformation

Specified by:

compute in interface Point2Transform3_F64

Parameters:

x - x-coordinate of point

y - y-coordinate of point

out - Transformed point location.

newtonsMethodUpdateThetaphi

protected void newtonsMethodUpdateThetaphi(double theta,
 double phi,
 double r)

Invert the function using Newton's method. This is different from the original paper which approximated the original function using multiple taylor series expansions and no iteration. This function can only improve the estimate of theta and phi. If the answer ever gets worse it aborts.

jacobianOfDistorted

protected void jacobianOfDistorted(double theta,
 double cosphi,
 double sinphi,
 DMatrix2x2 gradient)

Computes the Jacobian of the distorted coordinates [dx, dy].

copyConcurrent

public Point2Transform3_F64 copyConcurrent()

Description copied from interface: Point2Transform3_F64

Creates a copy of this transform for use in concurrent application. What that means is that any variable which might be modified by a concurrent call to Point2Transform3_F64.compute(double, double, georegression.struct.point.Point3D_F64) is not passed to the 'copied' output. Expensive to compute models might be passed in as a reference.

Specified by:

copyConcurrent in interface Point2Transform3_F64

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint