Package boofcv.alg.geo.bundle.cameras

Class BundlePinhole

java.lang.Object
boofcv.alg.geo.bundle.cameras.BundlePinhole
All Implemented Interfaces:
BundleAdjustmentCamera
public class BundlePinhole extends Object implements BundleAdjustmentCamera
Formulas for CameraPinhole.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    cx
     
    double
    cy
     
    double
    fx
     
    double
    fy
     
    double
    skew
     
    boolean
    zeroSkew
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    BundlePinhole()
     
    BundlePinhole(boolean zeroSkew)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    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[] inputX, double[] inputY, 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.
    BundlePinhole
    setK(double fx, double fy, double skew, double cx, double cy)
     
    BundlePinhole
    setTo(CameraPinhole src)
     
    String
    toString()
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • zeroSkew

      public boolean zeroSkew

    • fx

      public double fx

    • fy

      public double fy

    • skew

      public double skew

    • cx

      public double cx

    • cy

      public double cy

  • Constructor Details

    • BundlePinhole

      public BundlePinhole(boolean zeroSkew)

    • BundlePinhole

      public BundlePinhole()

  • Method Details

    • setTo

      public BundlePinhole setTo(CameraPinhole src)

    • setK

      public BundlePinhole setK(double fx, double fy, double skew, double cx, double cy)

    • 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[] inputX, double[] inputY, 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
      inputX - (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ] length 3
      inputY - (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.

    • toString

      public String toString()
      Overrides:
      toString in class Object