Package boofcv.alg.geo.bundle.cameras

Class BundleKannalaBrandt

java.lang.Object
boofcv.alg.geo.bundle.cameras.BundleKannalaBrandt
All Implemented Interfaces:
BundleAdjustmentCamera
public class BundleKannalaBrandt extends Object implements BundleAdjustmentCamera
Implementation of CameraKannalaBrandt for bundle adjustment

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    boolean
    isAsymmetric
    True if a there are asymmetric distortion terms
    final CameraKannalaBrandt
    model
    Camera model parameters
    boolean
    zeroSkew
    forces skew to be zero

  • Constructor Summary

    Constructors
    Constructor
    Description
    BundleKannalaBrandt()
     
    BundleKannalaBrandt(CameraKannalaBrandt model)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    configure(boolean zeroSkew, int numSymmetric, int numAsymmetric)
    Configures the parameters in the model
    void
    getIntrinsic(double[] parameters, int offset)
    Copies the intrinsic camera into the array.
    int
    getIntrinsicCount()
    Returns the number of intrinsic parameters for this model.
    void
    jacobian(double camX, double camY, double camZ, double[] pointX, double[] pointY, boolean computeIntrinsic, @org.jetbrains.annotations.Nullable double[] calibX, @org.jetbrains.annotations.Nullable double[] calibY)
    Computes the gradient for the projected pixel coordinate with partials for the input 3D point in camera reference frame and camera intrinsic parameters.
    void
    project(double camX, double camY, double camZ, Point2D_F64 output)
    Project the 3D point in the camera reference frame onto the camera's image plane.
    void
    setIntrinsic(double[] parameters, int offset)
    Specifies the intrinsic camera parameters.
    BundleAdjustmentCamera
    setTo(Map<String,Object> map)
    Set's the classes state to the value contained in this map.
    Map<String,Object>
    toMap()
    Convert's the values into a map format where each class's field has a corresponding key with the same name and primitive value or primitive array.

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface boofcv.abst.geo.bundle.BundleAdjustmentCamera

    setCameraState

  • Field Details

    • model

      public final CameraKannalaBrandt model
      Camera model parameters

    • zeroSkew

      public boolean zeroSkew
      forces skew to be zero

    • isAsymmetric

      public boolean isAsymmetric
      True if a there are asymmetric distortion terms

  • Constructor Details

    • BundleKannalaBrandt

      public BundleKannalaBrandt(CameraKannalaBrandt model)

    • BundleKannalaBrandt

      public BundleKannalaBrandt()

  • Method Details

    • configure

      public void configure(boolean zeroSkew, int numSymmetric, int numAsymmetric)
      Configures the parameters in the model
      Parameters:
      zeroSkew - If true, then skew will always be zero
      numSymmetric - Number of symmetric coefficients
      numAsymmetric - Number of asymmetric coefficients.

    • setIntrinsic

      public void setIntrinsic(double[] parameters, int offset)
      Description copied from interface: BundleAdjustmentCamera
      Specifies the intrinsic camera parameters.
      Specified by:
      setIntrinsic in interface BundleAdjustmentCamera
      Parameters:
      parameters - Array containing the parameters
      offset - Location of first index in the array which the parameters are stored

    • getIntrinsic

      public void getIntrinsic(double[] parameters, int offset)
      Description copied from interface: BundleAdjustmentCamera
      Copies the intrinsic camera into the array.
      Specified by:
      getIntrinsic in interface BundleAdjustmentCamera
      Parameters:
      parameters - Array containing the parameters
      offset - Location of first index in the array which the parameters are stored

    • project

      public void project(double camX, double camY, double camZ, Point2D_F64 output)
      Description copied from interface: BundleAdjustmentCamera
      Project the 3D point in the camera reference frame onto the camera's image plane.
      Specified by:
      project in interface BundleAdjustmentCamera
      Parameters:
      camX - 3D point in camera reference frame
      camY - 3D point in camera reference frame
      camZ - 3D point in camera reference frame
      output - Storage for projected point.

    • jacobian

      public void jacobian(double camX, double camY, double camZ, double[] pointX, double[] pointY, boolean computeIntrinsic, @Nullable @org.jetbrains.annotations.Nullable double[] calibX, @Nullable @org.jetbrains.annotations.Nullable double[] calibY)
      Description copied from interface: BundleAdjustmentCamera
      Computes the gradient for the projected pixel coordinate with partials for the input 3D point in camera reference frame and camera intrinsic parameters. [x',y'] is the projected pixel coordinate of the 3D point in camera reference frame.
      Specified by:
      jacobian in interface BundleAdjustmentCamera
      Parameters:
      camX - (Input) 3D point in camera reference frame
      camY - (Input) 3D point in camera reference frame
      camZ - (Input) 3D point in camera reference frame
      pointX - (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ] length 3
      pointY - (Output) Partial of projected y' relative to input camera point.[@y'/@camX, @ y' / @ camY, @ y' / @ camZ] length 3
      computeIntrinsic - If true the calibX and calibY is computed. Otherwise they are ignored and can be null
      calibX - (Output) Partial of projected x' relative to calibration parameters. length N
      calibY - (Output) Partial of projected y' relative to calibration parameters. length N

    • getIntrinsicCount

      public int getIntrinsicCount()
      Description copied from interface: BundleAdjustmentCamera
      Returns the number of intrinsic parameters for this model. If the camera is known then the number of parameters is zero
      Specified by:
      getIntrinsicCount in interface BundleAdjustmentCamera
      Returns:
      number of intrinsic parameters.

    • setTo

      public BundleAdjustmentCamera setTo(Map<String,Object> map)
      Description copied from interface: BundleAdjustmentCamera
      Set's the classes state to the value contained in this map. Used when deserializing.
      Specified by:
      setTo in interface BundleAdjustmentCamera

    • toMap

      public Map<String,Object> toMap()
      Description copied from interface: BundleAdjustmentCamera
      Convert's the values into a map format where each class's field has a corresponding key with the same name and primitive value or primitive array. This is used for serialization to YAML.
      Specified by:
      toMap in interface BundleAdjustmentCamera