Package boofcv.alg.geo.bundle.cameras

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()
     
    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)
     
    BundleAdjustmentCamera
    setTo(Map<String,Object> map)
    Set's the classes state to the value contained in this map.
    Map<String,Object>
    toMap()
    Convert's the values into a map format where each class's field has a corresponding key with the same name and primitive value or primitive array.

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface boofcv.abst.geo.bundle.BundleAdjustmentCamera

    setCameraState

  • 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()

    • 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.

    • setTo

      public BundleAdjustmentCamera setTo(Map<String,Object> map)
      Description copied from interface: BundleAdjustmentCamera
      Set's the classes state to the value contained in this map. Used when deserializing.
      Specified by:
      setTo in interface BundleAdjustmentCamera

    • toMap

      public Map<String,Object> toMap()
      Description copied from interface: BundleAdjustmentCamera
      Convert's the values into a map format where each class's field has a corresponding key with the same name and primitive value or primitive array. This is used for serialization to YAML.
      Specified by:
      toMap in interface BundleAdjustmentCamera