Class CameraUniversalOmni

All Implemented Interfaces:
Serializable

public class CameraUniversalOmni
extends CameraPinhole

Camera model for omnidirectional single viewpoint sensors [1]. Designed to work with parabolic, hyperbolic, wide-angle, and spherical sensors. The FOV that this model can describe is dependent on the mirror parameter ξ. See [1] for details, but for example ξ=0 is a pinhole camera, ξ=1 can describe fisheye cameras, but a value larger than 1 is limited to 180 degrees due to multiple points on the unit sphere intersecting the same projection line. This is the same model as CameraPinholeBrown except that there is a change in reference frame which allows it to model wider FOV.

Forward Projection
  1. Given a 3D point X=(x,y,z) in camera (mirror) coordinates
  2. Project onto unit sphere Xs=X/||X||
  3. Change reference frame X'=(x',y',z') = (xs,ys,zs + ξ)
  4. Compute normalized image coordinates (u,v)=(x'/z', y'/z')
  5. Apply radial and tangential distortion (see below)
  6. Convert into pixels p = K*distort([u;v])
 Camera Projection
     [ fx  skew cx ]
 K = [  0   fy  cy ]
     [  0    0   1 ]
 

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

r2 = u2 + v2
where xd is the distorted normalized image coordinates, xn=(u,v) is undistorted normalized image coordinates.

NOTE: The only difference from [1] is that skew is used instead of fx*alpha.

[1] Christopher Mei, and Patrick Rives. "Single view point omnidirectional camera calibration from planar grids." ICRA 2007.

See Also:
Serialized Form
  • Field Details

    • 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
  • Constructor Details

    • CameraUniversalOmni

      public CameraUniversalOmni​(int numRadial)
      Constructor for specifying number of radial distortion
      Parameters:
      numRadial - Number of radial distortion parameters
    • CameraUniversalOmni

      public CameraUniversalOmni​(CameraUniversalOmni original)
      Copy constructor
      Parameters:
      original - Model which is to be copied
  • Method Details

    • fsetMirror

      public CameraUniversalOmni fsetMirror​(double mirrorOffset)
    • fsetRadial

      public CameraUniversalOmni fsetRadial​(double... radial)
    • fsetTangental

      public CameraUniversalOmni fsetTangental​(double t1, double t2)
    • setTo

      public void setTo​(CameraUniversalOmni original)
      Assigns this model to be identical to the passed in model
      Parameters:
      original - Model which is to be copied
    • 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
    • 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)
    • getMirrorOffset

      public double getMirrorOffset()
    • setMirrorOffset

      public void setMirrorOffset​(double mirrorOffset)
    • toString

      public String toString()
      Overrides:
      toString in class CameraPinhole
    • print

      public void print()
      Description copied from class: CameraModel
      Prints a summary of this model to stdout
      Overrides:
      print in class CameraPinhole