boofcv.struct.calib.CameraPinholeRadial Maven / Gradle / Ivy

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BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.7
/*
 * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.struct.calib;

import org.ejml.FancyPrint;

import java.io.Serializable;

/**
 * Adds radial and tangential distortion to the intrinsic parameters of a {@link CameraPinhole 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]
 * 
 *
 * @author Peter Abeles
 */
public class CameraPinholeRadial extends CameraPinhole implements Serializable {

	/** radial distortion parameters */
	public double radial[];
	/** tangential distortion parameters */
	public double t1, t2;

	/**
	 * Default constructor.  flipY is false and everything else is zero or null.
	 */
	public CameraPinholeRadial() {
	}

	public CameraPinholeRadial( int numRadial ) {
		radial = new double[numRadial];
	}

	public CameraPinholeRadial(CameraPinholeRadial param ) {
		set(param);
	}

	public CameraPinholeRadial(double fx, double fy,
							   double skew,
							   double cx, double cy,
							   int width, int height ) {
		fsetK(fx, fy, skew, cx, cy, width, height);
	}

	public CameraPinholeRadial fsetK(double fx, double fy,
									 double skew,
									 double cx, double cy,
									 int width, int height) {
		return (CameraPinholeRadial)super.fsetK(fx, fy, skew, cx, cy, width, height);
	}

	public CameraPinholeRadial fsetRadial(double ...radial ) {
		this.radial = radial.clone();
		return this;
	}

	public CameraPinholeRadial fsetTangental(double t1 , double t2) {
		this.t1 = t1;
		this.t2 = t2;
		return this;
	}

	@Override
	public void set( CameraPinhole param ) {
		if( param instanceof CameraPinholeRadial ) {
			CameraPinholeRadial p = (CameraPinholeRadial)param;

			if( p.radial != null )
				radial = p.radial.clone();
			else
				radial = null;

			this.t1 = p.t1;
			this.t2 = p.t2;
		} else {
			this.radial = null;
			this.t1 = 0;
			this.t2 = 0;
		}
		super.set(param);
	}

	/**
	 * If true then distortion parameters are specified.
	 */
	public boolean isDistorted() {
		if( radial != null && radial.length > 0 ) {
			for (int i = 0; i < radial.length; i++) {
				if( radial[i] != 0 )
					return true;
			}
		}
		return t1 != 0 || t2 != 0;
	}

	public boolean isDistorted( double tol ) {
		if( radial != null && radial.length > 0 ) {
			for (int i = 0; i < radial.length; i++) {
				if( Math.abs(radial[i]) > tol )
					return true;
			}
		}
		return Math.abs(t1) > tol || Math.abs(t2) > tol;
	}

	public double[] getRadial() {
		return radial;
	}

	public void setRadial(double... radial) {
		this.radial = radial;
	}

	public double getT1() {
		return t1;
	}

	public void setT1(double t1) {
		this.t1 = t1;
	}

	public double getT2() {
		return t2;
	}

	public void setT2(double t2) {
		this.t2 = t2;
	}

	public void print() {
		super.print();
		if( radial != null ) {
			for( int i = 0; i < radial.length; i++ ) {
				System.out.printf("radial[%d] = %6.2e\n",i,radial[i]);
			}
		} else {
			System.out.println("No radial");
		}
		if( t1 != 0 || t2 != 0)
			System.out.printf("tangential = ( %6.2e , %6.2e)\n", t1, t2);
		else {
			System.out.println("No tangential");
		}
	}

	@Override
	public String toString() {
		FancyPrint fp = new FancyPrint();
		String txt =
				"CameraPinholeRadial{" +
				"fx=" + fx +
				", fy=" + fy +
				", skew=" + skew +
				", cx=" + cx +
				", cy=" + cy +
				", width=" + width +
				", height=" + height;
		if( radial != null ) {
			txt += ",";
			for( int i = 0; i < radial.length; i++ ) {
				txt += " r"+i+"="+fp.s(radial[i]);
			}
		}
		if( t1 != 0 || t2 != 0) {
			txt += ", t1="+fp.s(t1)+" t2="+fp.s(t2);
		}
		txt += '}';
		return txt;
	}

	@Override
	public  T createLike() {
		CameraPinholeRadial model = new CameraPinholeRadial();
		if( radial != null )
			model.radial = new double[ radial.length ];
		return (T)model;
	}
}