Class CameraPinholeBrown

  • All Implemented Interfaces:

    public class CameraPinholeBrown
    extends CameraPinhole

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

    Radial and Tangential Distortion:
    xd = xn + xn[k1 r2 + ... + kn r2n] + dx
    dxu = [ 2t1 u v + t2(r2 + 2u2)]
    dxv = [ t1(r2 + 2v2) + 2 t2 u v]

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

    See Also:
    Serialized Form
    • Field Detail

      • radial

        public double[] radial
        radial distortion parameters
      • t1

        public double t1
        tangential distortion parameters
      • t2

        public double t2
        tangential distortion parameters
    • Constructor Detail

      • CameraPinholeBrown

        public CameraPinholeBrown()
        Default constructor. flipY is false and everything else is zero or null.
      • CameraPinholeBrown

        public CameraPinholeBrown​(int numRadial)
      • CameraPinholeBrown

        public CameraPinholeBrown​(double fx,
                                  double fy,
                                  double skew,
                                  double cx,
                                  double cy,
                                  int width,
                                  int height)
    • Method Detail

      • isDistorted

        public boolean isDistorted()
        If true then distortion parameters are specified.
      • isDistorted

        public boolean isDistorted​(double tol)
      • getRadial

        public double[] getRadial()
      • setRadial

        public void setRadial​(double... radial)
      • getT1

        public double getT1()
      • setT1

        public void setT1​(double t1)
      • getT2

        public double getT2()
      • setT2

        public void setT2​(double t2)
      • 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
        createLike in class CameraPinhole