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.
    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)  

    Methods inherited from class java.lang.Object

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

    • 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.