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
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Field Summary
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Constructor Summary
Constructors Constructor Description BundlePinholeBrown()
BundlePinholeBrown(boolean zeroSkew, boolean tangential)
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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.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)
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Field Details
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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
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Constructor Details
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BundlePinholeBrown
public BundlePinholeBrown(boolean zeroSkew, boolean tangential) -
BundlePinholeBrown
public BundlePinholeBrown()
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Method Details
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setK
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setK
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setRadial
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setTangential
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setIntrinsic
public void setIntrinsic(double[] parameters, int offset)Description copied from interface:BundleAdjustmentCamera
Specifies the intrinsic camera parameters.- Specified by:
setIntrinsic
in interfaceBundleAdjustmentCamera
- Parameters:
parameters
- Array containing the parametersoffset
- Location of first index in the array which the parameters are stored
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getIntrinsic
public void getIntrinsic(double[] parameters, int offset)Description copied from interface:BundleAdjustmentCamera
Copies the intrinsic camera into the array.- Specified by:
getIntrinsic
in interfaceBundleAdjustmentCamera
- Parameters:
parameters
- Array containing the parametersoffset
- Location of first index in the array which the parameters are stored
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project
Description copied from interface:BundleAdjustmentCamera
Project the 3D point in the camera reference frame onto the camera's image plane.- Specified by:
project
in interfaceBundleAdjustmentCamera
- Parameters:
camX
- 3D point in camera reference framecamY
- 3D point in camera reference framecamZ
- 3D point in camera reference frameoutput
- Storage for projected point.
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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 interfaceBundleAdjustmentCamera
- Parameters:
camX
- (Input) 3D point in camera reference framecamY
- (Input) 3D point in camera reference framecamZ
- (Input) 3D point in camera reference frameinputX
- (Output) Partial of projected x' relative to input camera point.[@x'/@camX, @ x' / @ camY, @ x' / @ camZ]
length 3inputY
- (Output) Partial of projected y' relative to input camera point.[@y'/@camX, @ y' / @ camY, @ y' / @ camZ]
length 3computeIntrinsic
- If true the calibX and calibY is computed. Otherwise they are ignored and can be nullcalibX
- (Output) Partial of projected x' relative to calibration parameters. length NcalibY
- (Output) Partial of projected y' relative to calibration parameters. length N
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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 interfaceBundleAdjustmentCamera
- Returns:
- number of intrinsic parameters.
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