Class BundleUniversalOmni

java.lang.Object
boofcv.alg.geo.bundle.cameras.BundleUniversalOmni
All Implemented Interfaces:
BundleAdjustmentCamera

public class BundleUniversalOmni
extends Object
implements BundleAdjustmentCamera
Implementation of CameraUniversalOmni for bundle adjustment
  • Field Summary

    Fields
    Modifier and Type Field Description
    double cx
    image center (units: pixels)
    double cy
    image center (units: pixels)
    boolean fixedMirror  
    double fx
    focal length along x and y axis (units: pixels)
    double fy
    focal length along x and y axis (units: pixels)
    double mirrorOffset
    Mirror offset distance.
    double[] radial
    radial distortion parameters: k1,...,kn
    double skew
    skew parameter, typically 0 (units: pixels)
    double t1
    tangential distortion parameters
    double t2
    tangential distortion parameters
    boolean tangential  
    boolean zeroSkew  
  • Constructor Summary

    Constructors
    Constructor Description
    BundleUniversalOmni​(boolean zeroSkew, int numRadial, boolean includeTangential, boolean fixedMirror)  
    BundleUniversalOmni​(boolean zeroSkew, int numRadial, boolean includeTangential, double mirrorOffset)  
    BundleUniversalOmni​(CameraUniversalOmni intrinsic)  
  • Method Summary

    Modifier and Type Method Description
    void convert​(CameraUniversalOmni out)  
    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 x, double y, double z, 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.
    void setK​(DMatrixRMaj K)  

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
  • Field Details

    • fx

      public double fx
      focal length along x and y axis (units: pixels)
    • fy

      public double fy
      focal length along x and y axis (units: pixels)
    • skew

      public double skew
      skew parameter, typically 0 (units: pixels)
    • cx

      public double cx
      image center (units: pixels)
    • cy

      public double cy
      image center (units: pixels)
    • mirrorOffset

      public double mirrorOffset
      Mirror offset distance. ξ
    • radial

      public double[] radial
      radial distortion parameters: k1,...,kn
    • t1

      public double t1
      tangential distortion parameters
    • t2

      public double t2
      tangential distortion parameters
    • zeroSkew

      public boolean zeroSkew
    • tangential

      public boolean tangential
    • fixedMirror

      public boolean fixedMirror
  • Constructor Details

    • BundleUniversalOmni

      public BundleUniversalOmni​(boolean zeroSkew, int numRadial, boolean includeTangential, boolean fixedMirror)
    • BundleUniversalOmni

      public BundleUniversalOmni​(boolean zeroSkew, int numRadial, boolean includeTangential, double mirrorOffset)
    • BundleUniversalOmni

      public BundleUniversalOmni​(CameraUniversalOmni intrinsic)
  • Method Details

    • convert

      public void convert​(CameraUniversalOmni out)
    • setK

      public void setK​(DMatrixRMaj K)
    • 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 x, double y, double z, 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:
      x - 3D point in camera reference frame
      y - 3D point in camera reference frame
      z - 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.