Package boofcv.alg.geo.bundle.cameras

Class BundlePinholeBrown

java.lang.Object

boofcv.alg.geo.bundle.cameras.BundlePinholeBrown

All Implemented Interfaces:

BundleAdjustmentCamera

public class BundlePinholeBrown
extends Object
implements BundleAdjustmentCamera

Formulas for CameraPinholeBrown.

Field Summary

Fields

Modifier and Type	Field	Description
double	cx
double	cy
double	fx
double	fy
double[]	radial
double	skew
double	t1
double	t2
boolean	tangential
boolean	zeroSkew

Constructor Summary

Constructors

Constructor	Description
BundlePinholeBrown()
BundlePinholeBrown(boolean zeroSkew, boolean tangential)

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.
boolean	isIdentical(BundlePinholeBrown c, double tol)
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.
BundlePinholeBrown	setK(double fx, double fy, double skew, double cx, double cy)
BundlePinholeBrown	setK(DMatrixRMaj K)
BundlePinholeBrown	setRadial(double... radial)
BundlePinholeBrown	setTangential(double t1, double t2)
BundlePinholeBrown	setTo(CameraPinholeBrown 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

tangential

public boolean tangential

fx

public double fx

fy

public double fy

skew

public double skew

cx

public double cx

cy

public double cy

radial

public double[] radial

t1

public double t1

t2

public double t2

Constructor Details

BundlePinholeBrown

public BundlePinholeBrown(boolean zeroSkew,
 boolean tangential)

BundlePinholeBrown

public BundlePinholeBrown()

Method Details

setTo

public BundlePinholeBrown setTo(CameraPinholeBrown src)

isIdentical

public boolean isIdentical(BundlePinholeBrown c,
 double tol)

setK

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

setK

public BundlePinholeBrown setK(DMatrixRMaj K)

setRadial

public BundlePinholeBrown setRadial(double... radial)

setTangential

public BundlePinholeBrown setTangential(double t1,
 double t2)

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