Package boofcv.struct.calib

Class CameraPinhole

java.lang.Object

boofcv.struct.calib.CameraModel

boofcv.struct.calib.CameraPinhole

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

CameraDivision, CameraKannalaBrandt, CameraPinholeBrown, CameraUniversalOmni

public class CameraPinhole
extends CameraModel

Intrinsic camera parameters for a pinhole camera. Specifies the calibration matrix K and distortion parameters.

     [ fx skew  cx ]
 K = [  0   fy  cy ]
     [  0    0   1 ]
 

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
double	cx	image center (units: pixels)
double	cy	image center (units: pixels)
double	fx	focal length along x and y axis (units: pixels)
double	fy	focal length along x and y axis (units: pixels)
double	skew	skew parameter, typically 0 (units: pixels)

Fields inherited from class boofcv.struct.calib.CameraModel

height, width

Constructor Summary

Constructors

Constructor	Description
CameraPinhole()
CameraPinhole(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinhole(CameraPinhole param)	Copy constructor

Method Summary

Modifier and Type	Method	Description
<T extends CameraModel> T	createLike()	Creates a new camera model with zero values of the same type os this one
CameraPinhole	fsetK(double fx, double fy, double skew, double cx, double cy)
CameraPinhole	fsetK(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinhole	fsetK(DMatrixRMaj K)
CameraPinhole	fsetShape(int width, int height)
boolean	isEquals(CameraPinhole param, double tol)
boolean	isInside(double x, double y)	Is the pixel coordinate inside the image.
boolean	isInside(int x, int y)	Returns true if the pixel coordinate is inside the image
void	print()	Prints a summary of this model to stdout
void	reset()	Sets all variables to zero.
CameraPinhole	setTo(CameraPinhole param)
String	toString()

Methods inherited from class boofcv.struct.calib.CameraModel

getDimension, getHeight, getWidth, isSameShape, isSameShape, setHeight, setWidth

Methods inherited from class java.lang.Object

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

Constructor Details

CameraPinhole

public CameraPinhole()

CameraPinhole

public CameraPinhole(CameraPinhole param)

Copy constructor

CameraPinhole

public CameraPinhole(double fx,
 double fy,
 double skew,
 double cx,
 double cy,
 int width,
 int height)

Method Details

reset

public void reset()

Sets all variables to zero.

fsetK

public CameraPinhole fsetK(double fx,
 double fy,
 double skew,
 double cx,
 double cy)

fsetK

public CameraPinhole fsetK(DMatrixRMaj K)

fsetK

public CameraPinhole fsetK(double fx,
 double fy,
 double skew,
 double cx,
 double cy,
 int width,
 int height)

fsetShape

public CameraPinhole fsetShape(int width,
 int height)

setTo

public CameraPinhole setTo(CameraPinhole param)

isInside

public boolean isInside(double x,
 double y)

Is the pixel coordinate inside the image. For floating points numbers a pixel is inside the image if it is less than width or height. Justification for this is if you converted it to an int it would round down and be inside.

Parameters:

x - pixel location x-axis

y - pixel location y-axis

Returns:

true if inside or false if not

isInside

public boolean isInside(int x,
 int y)

Returns true if the pixel coordinate is inside the image

Parameters:

x - pixel location x-axis

y - pixel location y-axis

Returns:

true if inside or false if not

print

public void print()

Description copied from class: CameraModel

Prints a summary of this model to stdout

Overrides:

print in class CameraModel

createLike

public <T extends CameraModel> T createLike()

Description copied from class: CameraModel

Creates a new camera model with zero values of the same type os this one

Specified by:

createLike in class CameraModel

toString

public String toString()

Overrides:

toString in class Object

isEquals

public boolean isEquals(CameraPinhole param,
 double tol)