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 Distortion:
x' = x + x[k1 r2 + ... + kn r2n]
r2 = u2 + v2
where x' is the distorted pixel, x=(x,y) are pixel coordinates and (u,v)=K-1x are normalized image coordinates.
If flipY axis is true then the y-coordinate was transformed by, y = height - y - 1, (flipped along the vertical axis) during calibration. This is done to ensure that the image coordinate system has the following characteristics, +Z axis points out of the camera optical axis and is right handed.
| Modifier and Type | Field and Description |
|---|---|
double |
cx
image center (units: pixels)
|
double |
cy
image center (units: pixels)
|
boolean |
flipY
When calibrated was the y-axis flipped: y = (height - y - 1)
|
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)
|
int |
width
image shape (units: pixels)
|
| Constructor and Description |
|---|
IntrinsicParameters() |
IntrinsicParameters(double fx,
double fy,
double skew,
double cx,
double cy,
int width,
int height,
boolean flipY,
double[] radial) |
IntrinsicParameters(IntrinsicParameters param) |
| Modifier and Type | Method and Description |
|---|---|
double |
getCx() |
double |
getCy() |
double |
getFx() |
double |
getFy() |
int |
getHeight() |
double[] |
getRadial() |
double |
getSkew() |
int |
getWidth() |
boolean |
isFlipY() |
void |
print() |
void |
set(IntrinsicParameters param) |
void |
setCx(double cx) |
void |
setCy(double cy) |
void |
setFlipY(boolean flipY) |
void |
setFx(double fx) |
void |
setFy(double fy) |
void |
setHeight(int height) |
void |
setRadial(double[] radial) |
void |
setSkew(double skew) |
void |
setWidth(int width) |
public static final long serialVersionUID
public int width
public int height
public boolean flipY
public double fx
public double fy
public double skew
public double cx
public double cy
public double[] radial
public IntrinsicParameters()
public IntrinsicParameters(double fx,
double fy,
double skew,
double cx,
double cy,
int width,
int height,
boolean flipY,
double[] radial)
public IntrinsicParameters(IntrinsicParameters param)
public void set(IntrinsicParameters param)
public double getCx()
public void setCx(double cx)
public double getCy()
public void setCy(double cy)
public double getFx()
public void setFx(double fx)
public double getFy()
public void setFy(double fy)
public double[] getRadial()
public void setRadial(double[] radial)
public double getSkew()
public void setSkew(double skew)
public int getWidth()
public void setWidth(int width)
public int getHeight()
public void setHeight(int height)
public boolean isFlipY()
public void setFlipY(boolean flipY)
public void print()