boofcv.struct.calib

Class IntrinsicParameters

java.lang.Object

boofcv.struct.calib.IntrinsicParameters

All Implemented Interfaces:

java.io.Serializable

public class IntrinsicParameters
extends java.lang.Object
implements java.io.Serializable

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

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

Radial and Tangental 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 and 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)
int	height image shape (units: pixels)
double[]	radial radial distortion parameters
static long	serialVersionUID
double	skew skew parameter, typically 0 (units: pixels)
double	t1 tangential distortion parameters
double	t2 tangential distortion parameters
int	width image shape (units: pixels)

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
IntrinsicParameters	fsetK(double fx, double fy, double skew, double cx, double cy, int width, int height)
IntrinsicParameters	fsetRadial(double... radial)
IntrinsicParameters	fsetTangental(double t1, double t2)
double	getCx()
double	getCy()
double	getFx()
double	getFy()
int	getHeight()
double[]	getRadial()
double	getSkew()
double	getT1()
double	getT2()
int	getWidth()
boolean	isDistorted() If true then distortion parameters are specified.
void	print()
void	set(IntrinsicParameters param)
void	setCx(double cx)
void	setCy(double cy)
void	setFx(double fx)
void	setFy(double fy)
void	setHeight(int height)
void	setRadial(double[] radial)
void	setSkew(double skew)
void	setT1(double t1)
void	setT2(double t2)
void	setWidth(int width)

Methods inherited from class java.lang.Object

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

Field Detail

serialVersionUID

public static final long serialVersionUID

See Also:

Constant Field Values

width

public int width

image shape (units: pixels)

height

public int height

image shape (units: pixels)

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)

radial

public double[] radial

radial distortion parameters

t1

public double t1

tangential distortion parameters

t2

public double t2

tangential distortion parameters

Constructor Detail

IntrinsicParameters

public IntrinsicParameters()

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

IntrinsicParameters

public IntrinsicParameters(IntrinsicParameters param)

IntrinsicParameters

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

Method Detail

fsetK

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

fsetRadial

public IntrinsicParameters fsetRadial(double... radial)

fsetTangental

public IntrinsicParameters fsetTangental(double t1,
                                         double t2)

set

public void set(IntrinsicParameters param)

isDistorted

public boolean isDistorted()

If true then distortion parameters are specified.

getCx

public double getCx()

setCx

public void setCx(double cx)

getCy

public double getCy()

setCy

public void setCy(double cy)

getFx

public double getFx()

setFx

public void setFx(double fx)

getFy

public double getFy()

setFy

public void setFy(double fy)

getRadial

public double[] getRadial()

setRadial

public void setRadial(double[] radial)

getSkew

public double getSkew()

setSkew

public void setSkew(double skew)

getWidth

public int getWidth()

setWidth

public void setWidth(int width)

getHeight

public int getHeight()

setHeight

public void setHeight(int height)

getT1

public double getT1()

setT1

public void setT1(double t1)

getT2

public double getT2()

setT2

public void setT2(double t2)

print

public void print()