IntrinsicParameters (BoofCV Geometric Vision 0.16 API)

java.lang.Object
- boofcv.struct.calib.IntrinsicParameters

All Implemented Interfaces:

Serializable
```
public class IntrinsicParameters
extends Object
implements 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 + ... + k_n 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.
Author:

Peter Abeles

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)
`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 Summary

Constructors
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)`

Method Summary

Methods
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)`

Methods inherited from class java.lang.Object
clone, equals, finalize, 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)
- flipY
```
public boolean flipY
```
  When calibrated was the y-axis flipped: y = (height - y - 1)
- 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

Constructor Detail

IntrinsicParameters
```
public IntrinsicParameters()
```

IntrinsicParameters

public IntrinsicParameters(double fx,
                   double fy,
                   double skew,
                   double cx,
                   double cy,
                   int width,
                   int height,
                   boolean flipY,
                   double[] radial)

IntrinsicParameters

public IntrinsicParameters(IntrinsicParameters param)

Method Detail

set

public void set(IntrinsicParameters param)

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)
```

isFlipY
```
public boolean isFlipY()
```

setFlipY
```
public void setFlipY(boolean flipY)
```

print
```
public void print()
```

Class IntrinsicParameters

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

serialVersionUID

width

height

flipY

fx

fy

skew

cx

cy

radial

Constructor Detail

IntrinsicParameters

IntrinsicParameters

IntrinsicParameters

Method Detail

set

getCx

setCx

getCy

setCy

getFx

setFx

getFy

setFy

getRadial

setRadial

getSkew

setSkew

getWidth

setWidth

getHeight

setHeight

isFlipY

setFlipY

print