Package boofcv.struct.calib

Class CameraPinholeBrown

java.lang.Object

boofcv.struct.calib.CameraModel

boofcv.struct.calib.CameraPinhole

boofcv.struct.calib.CameraPinholeBrown

All Implemented Interfaces:

Serializable

public class CameraPinholeBrown
extends CameraPinhole
implements Serializable

Adds radial and tangential distortion to the intrinsic parameters of a pinhole camera.

Radial and Tangential Distortion:
x_d = x_n + x_n[k₁ r² + ... + k_n r²ⁿ] + dx
dx_u = [ 2t₁ u v + t₂(r² + 2u²)]
dx_v = [ t₁(r² + 2v²) + 2 t₂ u v]

r² = u² + v²
where x_d is the distorted coordinates, x_n=(u,v) is undistorted normalized image coordinates. Pixel coordinates are found x = K*[u;v]

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
@org.jetbrains.annotations.Nullable double[]	radial	radial distortion parameters
double	t1	tangential distortion parameters
double	t2	tangential distortion parameters

Fields inherited from class boofcv.struct.calib.CameraPinhole

cx, cy, fx, fy, skew

Fields inherited from class boofcv.struct.calib.CameraModel

height, width

Constructor Summary

Constructors

Constructor	Description
CameraPinholeBrown()	Default constructor.
CameraPinholeBrown(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinholeBrown(int numRadial)
CameraPinholeBrown(CameraPinholeBrown param)

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
CameraPinholeBrown	fsetK(double fx, double fy, double skew, double cx, double cy, int width, int height)
CameraPinholeBrown	fsetRadial(@org.jetbrains.annotations.Nullable double... radial)
CameraPinholeBrown	fsetTangential(double t1, double t2)
@org.jetbrains.annotations.Nullable double[]	getRadial()
boolean	isDistorted()	If true then distortion parameters are specified.
boolean	isDistorted(double tol)
void	print()	Prints a summary of this model to stdout
void	reset()	Sets all variables to zero.
void	setRadial(double... radial)
CameraPinhole	setTo(CameraPinhole param)
CameraPinholeBrown	setTo(CameraPinholeBrown param)
String	toString()
static String	toStringArray(FancyPrint fp, String name, @org.jetbrains.annotations.Nullable double[] param)

Methods inherited from class boofcv.struct.calib.CameraPinhole

fsetK, fsetK, fsetShape, isEquals, isInside, isInside

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

radial

@Nullable
public @org.jetbrains.annotations.Nullable double[] radial

radial distortion parameters

t1

public double t1

tangential distortion parameters

t2

public double t2

tangential distortion parameters

Constructor Details

CameraPinholeBrown

public CameraPinholeBrown()

Default constructor. flipY is false and everything else is zero or null.

CameraPinholeBrown

public CameraPinholeBrown(int numRadial)

CameraPinholeBrown

public CameraPinholeBrown(CameraPinholeBrown param)

CameraPinholeBrown

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

Method Details

reset

public void reset()

Description copied from class: CameraPinhole

Sets all variables to zero.

Overrides:

reset in class CameraPinhole

fsetK

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

Overrides:

fsetK in class CameraPinhole

fsetRadial

public CameraPinholeBrown fsetRadial(@Nullable
 @org.jetbrains.annotations.Nullable double... radial)

fsetTangential

public CameraPinholeBrown fsetTangential(double t1,
 double t2)

setTo

public CameraPinholeBrown setTo(CameraPinholeBrown param)

setTo

public CameraPinhole setTo(CameraPinhole param)

Overrides:

setTo in class CameraPinhole

isDistorted

public boolean isDistorted()

If true then distortion parameters are specified.

isDistorted

public boolean isDistorted(double tol)

getRadial

@Nullable
public @org.jetbrains.annotations.Nullable double[] getRadial()

setRadial

public void setRadial(double... radial)

print

public void print()

Description copied from class: CameraModel

Prints a summary of this model to stdout

Overrides:

print in class CameraPinhole

toString

public String toString()

Overrides:

toString in class CameraPinhole

toStringArray

public static String toStringArray(FancyPrint fp,
 String name,
 @Nullable
 @org.jetbrains.annotations.Nullable double[] param)

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

Overrides:

createLike in class CameraPinhole