IntrinsicParameters (geo 0.19 API)

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

All Methods Instance Methods Concrete Methods
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
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)
- 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()
```

Class IntrinsicParameters

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

serialVersionUID

width

height

fx

fy

skew

cx

cy

radial

t1

t2

Constructor Detail

IntrinsicParameters

IntrinsicParameters

IntrinsicParameters

Method Detail

fsetK

fsetRadial

fsetTangental

set

isDistorted

getCx

setCx

getCy

setCy

getFx

setFx

getFy

setFy

getRadial

setRadial

getSkew

setSkew

getWidth

setWidth

getHeight

setHeight

getT1

setT1

getT2

setT2

print