Package org.jvision.camera.distortion

Interface LensDistortionOpenCV

All Superinterfaces:
LensDistortion
public interface LensDistortionOpenCV extends LensDistortion
An interface that describes the lens distortion within the OpenCV convention. A complete description of the convention can be found in Camera calibration With OpenCV
The distortion is used to compute distorted / undistorted points for a given camera. Let (x, y) be the projection of a 3D point onto an image.
OPENCV Pinehole camera model
A new point (x'', y'') that integrate distortion (a distorted point) can be obtained a follows:
 
1 + k1r2 + k2r4 + k3r6
x''=x'×
+2p1x'y'+p2(r2+2x'2)+s1r2+s2r4
1 + k4r2 + k5r4 + k6r6

and
 
1 + k1r2 + k2r4 + k3r6
y''=y'×
+p1(r2+2y'2)+2p2x'y'+s3r2+s4r4
1 + k4r2 + k5r4 + k6r6
with:
  • (x', y') is a 3D point within camera referential that is not affected by the distortion.
  • (x'', y'') is a point within camera referential that is affected by the distortion.
  • r2 = x'2 + y'2.
  • k1, ..., k6 are the radial distortion coefficients.
  • p1, p2 are the tangential distortion coefficients.
  • s1, s2, s3 and s4 are the thin prism distortion coefficients.
Since:
1.0.0
Version:
"1.0.0" b202104211400L
Author:
Julien Seinturier - JOrigin - contact@jorigin.org - https://github.com/jorigin/jvision

  • Field Summary

    Fields inherited from interface org.jvision.camera.distortion.LensDistortion

    TYPE_NO_DISTORTION, TYPE_PRISM, TYPE_RADIAL, TYPE_RADIAL_RATIONAL, TYPE_RADIAL_SIMPLE, TYPE_TANGENTIAL, TYPE_TILT

  • Method Summary

    Modifier and Type
    Method
    Description
    org.jeometry.geom2D.point.Point2D
    distort​(org.jeometry.geom2D.point.Point2D undistorted)
    Distort the given point (x', y') expressed wit focal normalized coordinates such as:
      x - cx y - cy (x', y')=( ,  ) fx fy where:
    (x, y) are the coordinates of the point on the undistorted image in pixels (px) (cx, cy) are the coordinates of the projection center on the image in pixels (px) fx, fy are respectively the focal lengths along X and Y axis in pixels (px) The distorted point (x'', y'') is such that:
      1 + k1r2 + k2r4 + k3r6 x''=x'×+2p1x'y'+p2(r2+2x'2)+s1r2+s2r4 1 + k4r2 + k5r4 + k6r6
    and
      1 + k1r2 + k2r4 + k3r6 y''=y'×+p1(r2+2y'2)+2p2x'y'+s3r2+s4r4 1 + k4r2 + k5r4 + k6r6 with:
    (x', y') is the undistorted point expressed within focal normalized coordinates.
    org.jeometry.geom2D.point.Point2D
    distort​(org.jeometry.geom2D.point.Point2D undistorted, org.jeometry.geom2D.point.Point2D distorted)
    Distort the input point and store the result within output point.
    org.jeometry.math.Vector
    getDistortionCoefficients()
    Get the distortion parameters as the vector (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy) (14 dimensions).
    org.jeometry.math.Vector
    getDistortionCoefficients​(org.jeometry.math.Vector coefficients)
    Get the distortion parameters as a vector by filling the given parameters.
    double[]
    getDistortionCoefficientsDouble()
    Get the distortion coefficients as a double array [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14).
    double[]
    getDistortionCoefficientsDouble​(double[] coefficients)
    Get the distortion parameters as a double array by filling the given coefficients.
    float[]
    getDistortionCoefficientsFloat()
    Get the distortion coefficients as a float array.
    float[]
    getDistortionCoefficientsFloat​(float[] coefficients)
    Get the distortion parameters as a float array by filling the given coefficients.
    double
    getK1()
    Get the first radial distortion coefficient K1.
    double
    getK2()
    Get the second radial distortion coefficient K2.
    double
    getK3()
    Get the third radial distortion coefficient K3.
    double
    getK4()
    Get the fourth radial distortion coefficient K4.
    double
    getK5()
    Get the fifth radial distortion coefficient K5.
    double
    getK6()
    Get the sixth radial distortion coefficient K6.
    double
    getP1()
    Get the first tangential distortion coefficient P1.
    double
    getP2()
    Get the second tangential distortion coefficient P2.
    double
    getS1()
    Get the first thin prism distortion coefficient S1.
    double
    getS2()
    Get the second thin prism distortion coefficient S2.
    double
    getS3()
    Get the third thin prism distortion coefficient S3.
    double
    getS4()
    Get the fourth thin prism distortion coefficient S4.
    double
    getTx()
    Get the x axis tilt angular coefficient Tx.
    double
    getTy()
    Get the y axis tilt angular coefficient Ty.
    void
    setDistortionCoefficients​(double[] coefficients)
    Set the distortion coefficients from the given double array.
    void
    setDistortionCoefficients​(double k1, double k2, double k3, double p1, double p2)
    Set the radial and tangential distortion coefficients.
    void
    setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2)
    Set the radial and tangential distortion coefficients.
    void
    setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2, double s1, double s2, double s3, double s4)
    Set the radial, tangential and thin prism distortion coefficients.
    void
    setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2, double s1, double s2, double s3, double s4, double tx, double ty)
    Set the distortion coefficients.
    void
    setDistortionCoefficients​(float[] coefficients)
    Set the distortion coefficients from the given float array.
    void
    setDistortionCoefficients​(org.jeometry.math.Vector coefficients)
    Set the distortion coefficients from the given vector.
    void
    setK1​(double k1)
    Set the first radial distortion coefficient K1.
    void
    setK2​(double k2)
    Set the second radial distortion coefficient K2.
    void
    setK3​(double k3)
    Set the third radial distortion coefficient K3.
    void
    setK4​(double k4)
    Set the fourth radial distortion coefficient K4.
    void
    setK5​(double k5)
    Set the fifth radial distortion coefficient K5.
    void
    setK6​(double k6)
    Set the sixth radial distortion coefficient K6.
    void
    setP1​(double p1)
    Set the first tangential distortion coefficient P1.
    void
    setP2​(double p2)
    Set the second tangential distortion coefficient P2.
    void
    setS1​(double s1)
    Set the first thin prism distortion coefficient S1.
    void
    setS2​(double s2)
    Set the second thin prism distortion coefficient S2.
    void
    setS3​(double s3)
    Set the third thin prism distortion coefficient S3.
    void
    setS4​(double s4)
    Set the fourth thin prism distortion coefficient S4.
    void
    setTx​(double tx)
    Set the x axis tilt angular coefficient Tx.
    void
    setTy​(double ty)
    Set the y axis tilt angular coefficient Ty.
    org.jeometry.geom2D.point.Point2D
    undistort​(org.jeometry.geom2D.point.Point2D distorted)
    Undistort the given point.
    org.jeometry.geom2D.point.Point2D
    undistort​(org.jeometry.geom2D.point.Point2D distorted, org.jeometry.geom2D.point.Point2D undistorted)
    Undistort the input point and store the result within output point.

    Methods inherited from interface org.jvision.camera.distortion.LensDistortion

    getDistortionComponents, getDistortionConvention

  • Method Details

    • distort

      org.jeometry.geom2D.point.Point2D distort​(org.jeometry.geom2D.point.Point2D undistorted)
      Distort the given point (x', y') expressed wit focal normalized coordinates such as:
       
      x - cx y - cy
      (x', y')=(
      		, 
      		)
      fx fy
      where:
      • (x, y) are the coordinates of the point on the undistorted image in pixels (px)
      • (cx, cy) are the coordinates of the projection center on the image in pixels (px)
      • fx, fy are respectively the focal lengths along X and Y axis in pixels (px)
      The distorted point (x'', y'') is such that:
       
      1 + k1r2 + k2r4 + k3r6
      x''=x'×
      		+2p1x'y'+p2(r2+2x'2)+s1r2+s2r4
      1 + k4r2 + k5r4 + k6r6

      and
       
      1 + k1r2 + k2r4 + k3r6
      y''=y'×
      		+p1(r2+2y'2)+2p2x'y'+s3r2+s4r4
      1 + k4r2 + k5r4 + k6r6
      with:
      • (x', y') is the undistorted point expressed within focal normalized coordinates.
      • (x'', y'') is a point expressed within focal normalized coordinates that is affected by the distortion.
      • r2 = x'2 + y'2.
      • k1, ..., k6 are the radial distortion coefficients.
      • p1, p2 are the tangential distortion coefficients.
      • s1, s2, s3 and s4 are the thin prism distortion coefficients.
      If the undistorted point is null, coordinates of the result are set to Double.NaN.
      Specified by:
      distort in interface LensDistortion
      Parameters:
      undistorted - the input point within focal normalized coordinates.
      Returns:
      the distorted point.
      See Also:
      undistort(Point2D)

    • distort

      org.jeometry.geom2D.point.Point2D distort​(org.jeometry.geom2D.point.Point2D undistorted, org.jeometry.geom2D.point.Point2D distorted)
      Distort the input point and store the result within output point. The point have to be expressed within camera coordinates. If the input is null, coordinates of the result are set to Double.NaN.
      Specified by:
      distort in interface LensDistortion
      Parameters:
      undistorted - the input point within camera coordinates.
      distorted - the output point within camera coordinates.
      Returns:
      the distorted point (same reference as output if its not null).
      See Also:
      undistort(Point2D, Point2D)

    • undistort

      org.jeometry.geom2D.point.Point2D undistort​(org.jeometry.geom2D.point.Point2D distorted)
      Undistort the given point. The point have to be expressed within image coordinates. If the input is null, coordinates of the result are set to Double.NaN.
      Specified by:
      undistort in interface LensDistortion
      Parameters:
      distorted - the input point within image coordinates.
      Returns:
      the undistorted point.
      See Also:
      distort(Point2D)

    • undistort

      org.jeometry.geom2D.point.Point2D undistort​(org.jeometry.geom2D.point.Point2D distorted, org.jeometry.geom2D.point.Point2D undistorted)
      Undistort the input point and store the result within output point. The point have to be expressed within image coordinates. If the input is null, coordinates of the result are set to Double.NaN.
      Specified by:
      undistort in interface LensDistortion
      Parameters:
      distorted - the input point within image coordinates.
      undistorted - the output point within camera coordinates.
      Returns:
      the undistorted point (same reference as output if its not null).
      See Also:
      distort(Point2D, Point2D)

    • getDistortionCoefficients

      org.jeometry.math.Vector getDistortionCoefficients()
      Get the distortion parameters as the vector (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy) (14 dimensions).
      Specified by:
      getDistortionCoefficients in interface LensDistortion
      Returns:
      the distortion parameters

    • getDistortionCoefficients

      org.jeometry.math.Vector getDistortionCoefficients​(org.jeometry.math.Vector coefficients) throws IllegalArgumentException
      Get the distortion parameters as a vector by filling the given parameters. Possible output vectors are:
      • (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy) (14 dimensions)
      • (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4) (12 dimensions)
      • (k1, k2 , p1, p2, k3, k4, k5, k6) (8 dimensions)
      • (k1, k2 , p1, p2, k3) (5 dimensions)
      • (k1, k2 , p1, p2) (4 dimensions)
      Specified by:
      getDistortionCoefficients in interface LensDistortion
      Parameters:
      coefficients - the output vector that has to store distortion parameters
      Returns:
      a reference on the given vector, for chaining purposes
      Throws:
      IllegalArgumentException - if the given vector does match the distortion implementation requirement

    • setDistortionCoefficients

      void setDistortionCoefficients​(org.jeometry.math.Vector coefficients) throws IllegalArgumentException
      Set the distortion coefficients from the given vector. Possible vectors are:
      • (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy) (14 dimensions)
      • (k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4) (12 dimensions)
      • (k1, k2 , p1, p2, k3, k4, k5, k6) (8 dimensions)
      • (k1, k2 , p1, p2, k3) (5 dimensions)
      • (k1, k2 , p1, p2) (4 dimensions)
      • null or empty vector for no distortion
      Specified by:
      setDistortionCoefficients in interface LensDistortion
      Parameters:
      coefficients - the distortion coefficients
      Throws:
      IllegalArgumentException - if the input vector does match the distortion implementation requirement

    • getDistortionCoefficientsFloat

      float[] getDistortionCoefficientsFloat()
      Get the distortion coefficients as a float array. Possible output arrays are:
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14)
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4] (length 12)
      • [k1, k2 , p1, p2, k3, k4, k5, k6] (length 8)
      • [k1, k2 , p1, p2, k3] (length 5)
      • [k1, k2 , p1, p2] (length 4)
      Specified by:
      getDistortionCoefficientsFloat in interface LensDistortion
      Returns:
      the distortion coefficients

    • getDistortionCoefficientsFloat

      float[] getDistortionCoefficientsFloat​(float[] coefficients) throws IllegalArgumentException
      Get the distortion parameters as a float array by filling the given coefficients. Possible output arrays are:
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14)
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4] (length 12)
      • [k1, k2 , p1, p2, k3, k4, k5, k6] (length 8)
      • [k1, k2 , p1, p2, k3] (length 5)
      • [k1, k2 , p1, p2] (length 4)
      Specified by:
      getDistortionCoefficientsFloat in interface LensDistortion
      Parameters:
      coefficients - the output array that has to store distortion coefficients
      Returns:
      a reference on the given array, for chaining purposes
      Throws:
      IllegalArgumentException - if the given array does match the distortion implementation requirement

    • setDistortionCoefficients

      void setDistortionCoefficients​(float[] coefficients) throws IllegalArgumentException
      Set the distortion coefficients from the given float array. Possible arrays are:
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14)
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4] (length 12)
      • [k1, k2 , p1, p2, k3, k4, k5, k6] (length 8)
      • [k1, k2 , p1, p2, k3] (length 5)
      • [k1, k2 , p1, p2] (length 4)
      • null or empty array for no distortion
      Specified by:
      setDistortionCoefficients in interface LensDistortion
      Parameters:
      coefficients - the distortion coefficients
      Throws:
      IllegalArgumentException - if the input array does match the distortion implementation requirement

    • getDistortionCoefficientsDouble

      double[] getDistortionCoefficientsDouble()
      Get the distortion coefficients as a double array [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14).
      Specified by:
      getDistortionCoefficientsDouble in interface LensDistortion
      Returns:
      the distortion coefficients

    • getDistortionCoefficientsDouble

      double[] getDistortionCoefficientsDouble​(double[] coefficients) throws IllegalArgumentException
      Get the distortion parameters as a double array by filling the given coefficients. Possible output arrays are:
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14)
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4] (length 12)
      • [k1, k2 , p1, p2, k3, k4, k5, k6] (length 8)
      • [k1, k2 , p1, p2, k3] (length 5)
      • [k1, k2 , p1, p2] (length 4)
      Specified by:
      getDistortionCoefficientsDouble in interface LensDistortion
      Parameters:
      coefficients - the output array that has to store distortion coefficients
      Returns:
      a reference on the given array, for chaining purposes
      Throws:
      IllegalArgumentException - if the given array does match the distortion implementation requirement

    • setDistortionCoefficients

      void setDistortionCoefficients​(double[] coefficients) throws IllegalArgumentException
      Set the distortion coefficients from the given double array. Possible arrays are:
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4, τx, τy] (length 14)
      • [k1, k2 , p1, p2, k3, k4, k5, k6, s1, s2, s3, s4] (length 12)
      • [k1, k2 , p1, p2, k3, k4, k5, k6] (length 8)
      • [k1, k2 , p1, p2, k3] (length 5)
      • [k1, k2 , p1, p2] (length 4)
      • null or empty array for no distortion
      Specified by:
      setDistortionCoefficients in interface LensDistortion
      Parameters:
      coefficients - the distortion coefficients
      Throws:
      IllegalArgumentException - if the input array does match the distortion implementation requirement

    • getK1

      double getK1()
      Get the first radial distortion coefficient K1.
      Returns:
      the first radial distortion coefficient K1.
      See Also:
      setK1(double), getK2(), getK3()

    • setK1

      void setK1​(double k1)
      Set the first radial distortion coefficient K1.
      Parameters:
      k1 - the first radial distortion coefficient K1.
      See Also:
      getK1(), setK2(double), setK3(double)

    • getK2

      double getK2()
      Get the second radial distortion coefficient K2.
      Returns:
      the second radial distortion coefficient K2.
      See Also:
      setK2(double), getK1(), getK3()

    • setK2

      void setK2​(double k2)
      Set the second radial distortion coefficient K2.
      Parameters:
      k2 - the second radial distortion coefficient K2.
      See Also:
      getK2(), setK1(double), setK3(double)

    • getK3

      double getK3()
      Get the third radial distortion coefficient K3.
      Returns:
      the third radial distortion coefficient K3.
      See Also:
      setK3(double), getK1(), getK2()

    • setK3

      void setK3​(double k3)
      Set the third radial distortion coefficient K3.
      Parameters:
      k3 - the third radial distortion coefficient K3.
      See Also:
      getK3(), setK1(double), setK2(double)

    • getK4

      double getK4()
      Get the fourth radial distortion coefficient K4.
      Returns:
      the fourth radial distortion coefficient K4.
      See Also:
      setK4(double), getK5(), getK6()

    • setK4

      void setK4​(double k4)
      Set the fourth radial distortion coefficient K4.
      Parameters:
      k4 - the fourth radial distortion coefficient K4.
      See Also:
      getK4(), setK5(double), setK6(double)

    • getK5

      double getK5()
      Get the fifth radial distortion coefficient K5.
      Returns:
      the fourth radial distortion coefficient K5.
      See Also:
      setK5(double), getK4(), getK6()

    • setK5

      void setK5​(double k5)
      Set the fifth radial distortion coefficient K5.
      Parameters:
      k5 - the fourth radial distortion coefficient K5.
      See Also:
      getK5(), setK4(double), setK6(double)

    • getK6

      double getK6()
      Get the sixth radial distortion coefficient K6.
      Returns:
      the fourth radial distortion coefficient K6.
      See Also:
      setK6(double), getK4(), getK5()

    • setK6

      void setK6​(double k6)
      Set the sixth radial distortion coefficient K6.
      Parameters:
      k6 - the fourth radial distortion coefficient K6.
      See Also:
      getK6(), setK4(double), setK5(double)

    • getP1

      double getP1()
      Get the first tangential distortion coefficient P1.
      Returns:
      the first tangential distortion coefficient P1.
      See Also:
      setP1(double), getP2()

    • setP1

      void setP1​(double p1)
      Set the first tangential distortion coefficient P1.
      Parameters:
      p1 - the first tangential distortion coefficient P1.
      See Also:
      getP1(), setP2(double)

    • getP2

      double getP2()
      Get the second tangential distortion coefficient P2.
      Returns:
      the second tangential distortion coefficient P2.
      See Also:
      setP2(double), getP1()

    • setP2

      void setP2​(double p2)
      Set the second tangential distortion coefficient P2.
      Parameters:
      p2 - the second tangential distortion coefficient P2.
      See Also:
      getP2(), setP1(double)

    • getS1

      double getS1()
      Get the first thin prism distortion coefficient S1.
      Returns:
      the first thin prism distortion coefficient S1.
      See Also:
      setS1(double), getS2(), getS3(), getS4()

    • setS1

      void setS1​(double s1)
      Set the first thin prism distortion coefficient S1.
      Parameters:
      s1 - the first thin prism distortion coefficient S1.
      See Also:
      getS1(), setS2(double), setS3(double), setS4(double)

    • getS2

      double getS2()
      Get the second thin prism distortion coefficient S2.
      Returns:
      the second thin prism distortion coefficient S2.
      See Also:
      setS2(double), getS1(), getS3(), getS4()

    • setS2

      void setS2​(double s2)
      Set the second thin prism distortion coefficient S2.
      Parameters:
      s2 - the second thin prism distortion coefficient S2.
      See Also:
      getS2(), setS1(double), setS3(double), setS4(double)

    • getS3

      double getS3()
      Get the third thin prism distortion coefficient S3.
      Returns:
      the third thin prism distortion coefficient S3.
      See Also:
      setS3(double), getS1(), getS2(), getS4()

    • setS3

      void setS3​(double s3)
      Set the third thin prism distortion coefficient S3.
      Parameters:
      s3 - the third thin prism distortion coefficient S3.
      See Also:
      getS3(), setS1(double), setS2(double), setS4(double)

    • getS4

      double getS4()
      Get the fourth thin prism distortion coefficient S4.
      Returns:
      the fourth thin prism distortion coefficient S4.
      See Also:
      setS4(double), getS1(), getS2(), getS3()

    • setS4

      void setS4​(double s4)
      Set the fourth thin prism distortion coefficient S4.
      Parameters:
      s4 - the fourth thin prism distortion coefficient S4.
      See Also:
      getS4(), setS1(double), setS2(double), setS3(double)

    • getTx

      double getTx()
      Get the x axis tilt angular coefficient Tx.
      Returns:
      the x axis tilt angular coefficient Tx.
      See Also:
      setTx(double), getTy()

    • setTx

      void setTx​(double tx)
      Set the x axis tilt angular coefficient Tx.
      Parameters:
      tx - the x axis tilt angular coefficient Tx.
      See Also:
      getTx(), setTy(double)

    • getTy

      double getTy()
      Get the y axis tilt angular coefficient Ty.
      Returns:
      the y axis tilt angular coefficient Ty.
      See Also:
      setTy(double), getTx()

    • setTy

      void setTy​(double ty)
      Set the y axis tilt angular coefficient Ty.
      Parameters:
      ty - the y axis tilt angular coefficient Ty.
      See Also:
      getTy(), setTx(double)

    • setDistortionCoefficients

      void setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2, double s1, double s2, double s3, double s4, double tx, double ty)
      Set the distortion coefficients.
      Parameters:
      k1 - the first radial coefficient
      k2 - the second radial coefficient
      k3 - the third radial coefficient
      k4 - the first radial rational coefficient
      k5 - the second radial rational coefficient
      k6 - the third radial rational coefficient
      p1 - the first tangential coefficient
      p2 - the second tangential coefficient
      s1 - the first thin prism distortion coefficient
      s2 - the second thin prism distortion coefficient
      s3 - the third thin prism distortion coefficient
      s4 - the fourth thin prism distortion coefficient
      tx - the x tilt distortion coefficient
      ty - the y tilt distortion coefficient

    • setDistortionCoefficients

      void setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2, double s1, double s2, double s3, double s4)
      Set the radial, tangential and thin prism distortion coefficients. The tilt distortion coefficients τx and τx are set to 0.
      Parameters:
      k1 - the first radial coefficient
      k2 - the second radial coefficient
      k3 - the third radial coefficient
      k4 - the first radial rational coefficient
      k5 - the second radial rational coefficient
      k6 - the third radial rational coefficient
      p1 - the first tangential coefficient
      p2 - the second tangential coefficient
      s1 - the first thin prism distortion coefficient
      s2 - the second thin prism distortion coefficient
      s3 - the third thin prism distortion coefficient
      s4 - the fourth thin prism distortion coefficient

    • setDistortionCoefficients

      void setDistortionCoefficients​(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2)
      Set the radial and tangential distortion coefficients. The thin prism and the tilt distortion coefficients s1, s2, s3, s4, τx and τx are set to 0.
      Parameters:
      k1 - the first radial coefficient
      k2 - the second radial coefficient
      k3 - the third radial coefficient
      k4 - the first radial rational coefficient
      k5 - the second radial rational coefficient
      k6 - the third radial rational coefficient
      p1 - the first tangential coefficient
      p2 - the second tangential coefficient

    • setDistortionCoefficients

      void setDistortionCoefficients​(double k1, double k2, double k3, double p1, double p2)
      Set the radial and tangential distortion coefficients. The radial rational, thin prism and the tilt distortion coefficients k4, k5, k6, s1, s2, s3, s4, τx and τx are set to 0.
      Parameters:
      k1 - the first radial coefficient
      k2 - the second radial coefficient
      k3 - the third radial coefficient
      p1 - the first tangential coefficient
      p2 - the second tangential coefficient