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 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

    • isIdentical

      public boolean isIdentical(BundlePinholeBrown c, double tol)
    • setK

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

    • 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