boofcv.struct.calib

Class CameraUniversalOmni

java.lang.Object

boofcv.struct.calib.CameraModel

boofcv.struct.calib.CameraPinhole

boofcv.struct.calib.CameraUniversalOmni

All Implemented Interfaces:

java.io.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 CameraPinholeRadial 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 X_s=X/||X||
3. Change reference frame X'=(x',y',z') = (x_s,y_s,z_s + 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:
x_d = x_n + x_n[k₁ r² + ... + k_n r²ⁿ]
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 normalized image coordinates, x_n=(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 Summary

Fields

Modifier and Type	Field and Description
double	mirrorOffset Mirror offset distance.
double[]	radial radial distortion parameters: k1,...,kn
double	t1 tangential distortion parameters
double	t2 tangential distortion parameters

Fields inherited from class boofcv.struct.calib.CameraPinhole

cx, cy, fx, fy, serialVersionUID, skew

Fields inherited from class boofcv.struct.calib.CameraModel

height, width

Constructor Summary

Constructors

Constructor and Description
CameraUniversalOmni(CameraUniversalOmni original) Copy constructor
CameraUniversalOmni(int numRadial) Constructor for specifying number of radial distortion

Method Summary

Modifier and Type	Method and Description
CameraUniversalOmni	fsetMirror(double mirrorOffset)
CameraUniversalOmni	fsetRadial(double... radial)
CameraUniversalOmni	fsetTangental(double t1, double t2)
double	getMirrorOffset()
double[]	getRadial()
double	getT1()
double	getT2()
void	set(CameraUniversalOmni original) Assigns this model to be identical to the passed in model
void	setMirrorOffset(double mirrorOffset)
void	setRadial(double[] radial)
void	setT1(double t1)
void	setT2(double t2)

Methods inherited from class boofcv.struct.calib.CameraPinhole

fsetK, getCx, getCy, getFx, getFy, getSkew, print, set, setCx, setCy, setFx, setFy, setSkew

Methods inherited from class boofcv.struct.calib.CameraModel

getHeight, getWidth, setHeight, setWidth

Methods inherited from class java.lang.Object

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

Field Detail

mirrorOffset

public double mirrorOffset

Mirror offset distance. ξ

radial

public double[] radial

radial distortion parameters: k₁,...,k_n

t1

public double t1

tangential distortion parameters

t2

public double t2

tangential distortion parameters

Constructor Detail

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 Detail

fsetMirror

public CameraUniversalOmni fsetMirror(double mirrorOffset)

fsetRadial

public CameraUniversalOmni fsetRadial(double... radial)

fsetTangental

public CameraUniversalOmni fsetTangental(double t1,
                                         double t2)

set

public void set(CameraUniversalOmni original)

Assigns this model to be identical to the passed in model

Parameters:

original - Model which is to be copied

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)