Package org.jvision.camera.distortion

Class SimpleLensDistortionMetashape

java.lang.Object

org.jvision.camera.distortion.SimpleLensDistortionMetashape

All Implemented Interfaces:

LensDistortion, LensDistortionMetashape

public class SimpleLensDistortionMetashape
extends Object
implements LensDistortionMetashape

A class dedicated to the handling of lens distortion within the Agisoft Metashape(c) convention.
The distortion is used to compute distorted / undistorted points for a given camera. Let (X, Y, Z) be a 3D point expressed within the camera referential.

A new point (u, v) that integrate distortion (a distorted point) can be obtained a follows:

x	=	X / Z
y	=	Y / Z

x'

=

x

(1 + k1r2 + k2r4 + k3r6 + k4r8)

+

(P1(r2+2x2) + 2P2xy)

y'

=

x

(1 + k1r2 + k2r4 + k3r6 + k4r8)

+

(P2(r2+2y2) + 2P1xy)

with:

• (x', y') is a point within camera referential that is affected by the distortion.
• r² = x² + y².
• k₁, k₂, k₃, k₄ are the radial distortion coefficients.
• p₁, p₂ are the tangential distortion coefficients.

We got then:

u = w × 0.5 + cx + x'f + x'B1 + y'B2

v = h × 0.5 + cy + y'f

with:

• (u, v) is a point within the image referential that is affected by the distortion expressed in pixels (px).
• w is the digital image width in pixels (px).
• h is the digital image height in pixels (px).
• (c_x, c_y) is the principal point offset expressed in pixels (px).
• f is the camera focal length in pixels (px).
• B₁ is the affinity coefficient.
• B₂ is the non-orthogonality (skew) coefficient.

As the parameters B₁ and B₂ are not part of the lens distortion, the last equation is not taken in account within this class computation.

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

Constructor Summary

Constructors

Constructor	Description
SimpleLensDistortionMetashape()	Construct a new Agisoft Metashape lens distortion representation with no distortion.
SimpleLensDistortionMetashape(double[] coefficients)	Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients. An Agisoft Metashape (c) distortion is made of 2 components: Radial distortion defined by coefficients k1, k2, k3 and k4.
SimpleLensDistortionMetashape(double k1, double k2, double k3, double k4, double p1, double p2)	Construct a new Agisoft Metashape lens distortion.
SimpleLensDistortionMetashape(float[] coefficients)	Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients. An Agisoft Metashape (c) distortion is made of 2 components: Radial distortion defined by coefficients k1, k2, k3 and k4.
SimpleLensDistortionMetashape(org.jeometry.math.Vector coefficients)	Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients. An Agisoft Metashape (c) distortion is made of 2 components: Radial distortion defined by coefficients k1, k2, k3 and k4.

Method Summary

Modifier and Type	Method	Description
org.jeometry.geom2D.point.Point2D	distort(org.jeometry.geom2D.point.Point2D undistorted)
org.jeometry.geom2D.point.Point2D	distort(org.jeometry.geom2D.point.Point2D undistorted, org.jeometry.geom2D.point.Point2D distorted)
org.jeometry.math.Vector	getDistortionCoefficients()
org.jeometry.math.Vector	getDistortionCoefficients(org.jeometry.math.Vector parameters)
double[]	getDistortionCoefficientsDouble()
double[]	getDistortionCoefficientsDouble(double[] parameters)
float[]	getDistortionCoefficientsFloat()
float[]	getDistortionCoefficientsFloat(float[] parameters)
int	getDistortionComponents()
String	getDistortionConvention()
double	getK1()
double	getK2()
double	getK3()
double	getK4()
double	getP1()
double	getP2()
void	setDistortionCoefficients(double[] parameters)
void	setDistortionCoefficients(double k1, double k2, double k3, double k4, double p1, double p2)
void	setDistortionCoefficients(float[] parameters)
void	setDistortionCoefficients(org.jeometry.math.Vector parameters)
void	setK1(double k1)
void	setK2(double k2)
void	setK3(double k3)
void	setK4(double k4)
void	setP1(double p1)
void	setP2(double p2)
org.jeometry.geom2D.point.Point2D	undistort(org.jeometry.geom2D.point.Point2D distorted)
org.jeometry.geom2D.point.Point2D	undistort(org.jeometry.geom2D.point.Point2D distorted, org.jeometry.geom2D.point.Point2D undistorted)

Methods inherited from class java.lang.Object

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

Constructor Details

SimpleLensDistortionMetashape

public SimpleLensDistortionMetashape()

Construct a new Agisoft Metashape lens distortion representation with no distortion.

An Agisoft Metashape (c) distortion is made of 2 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ and k₄.
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.

SimpleLensDistortionMetashape

public SimpleLensDistortionMetashape(double k1,
 double k2,
 double k3,
 double k4,
 double p1,
 double p2)

Construct a new Agisoft Metashape lens distortion.

An Agisoft Metashape (c) distortion is made of 2 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ and k₄.
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.

Parameters:

k1 - the first radial distortion parameter

k2 - the second radial distortion parameter

k3 - the third radial distortion parameter

k4 - the fourth radial distortion parameter

p1 - the first tangential distortion parameter

p2 - the second tangential distortion parameter

SimpleLensDistortionMetashape

public SimpleLensDistortionMetashape(org.jeometry.math.Vector coefficients)
                              throws IllegalArgumentException

Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients.

An Agisoft Metashape (c) distortion is made of 2 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ and k₄.
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.

Accepted vector is (k₁, k₂, k₃, k₄, p₁, p₂) (6 dimensions).

Parameters:

coefficients - the distortion coefficients

Throws:

IllegalArgumentException - if the input array does not match a distortion configuration

SimpleLensDistortionMetashape

public SimpleLensDistortionMetashape(float[] coefficients)
                              throws IllegalArgumentException

Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients.

An Agisoft Metashape (c) distortion is made of 2 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ and k₄.
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.

Accepted array is [k₁, k₂, k₃, k₄, p₁, p₂] (length 6).

Parameters:

coefficients - the distortion coefficients

Throws:

IllegalArgumentException - if the input array does not match a distortion configuration

SimpleLensDistortionMetashape

public SimpleLensDistortionMetashape(double[] coefficients)
                              throws IllegalArgumentException

Create a new distortion representation based on Agisoft Metashape(c) formalization with given coefficients.

An Agisoft Metashape (c) distortion is made of 2 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ and k₄.
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.

Accepted array is [k₁, k₂, k₃, k₄, p₁, p₂] (length 6).

Parameters:

coefficients - the distortion coefficients

Throws:

IllegalArgumentException - if the input array does not match a distortion configuration

Method Details

getDistortionConvention

public String getDistortionConvention()

Specified by:

getDistortionConvention in interface LensDistortion

getDistortionComponents

public int getDistortionComponents()

Specified by:

getDistortionComponents in interface LensDistortion

distort

public org.jeometry.geom2D.point.Point2D distort(org.jeometry.geom2D.point.Point2D undistorted)

Specified by:

distort in interface LensDistortion

distort

public org.jeometry.geom2D.point.Point2D distort(org.jeometry.geom2D.point.Point2D undistorted,
 org.jeometry.geom2D.point.Point2D distorted)

Specified by:

distort in interface LensDistortion

undistort

public org.jeometry.geom2D.point.Point2D undistort(org.jeometry.geom2D.point.Point2D distorted)

Specified by:

undistort in interface LensDistortion

undistort

public org.jeometry.geom2D.point.Point2D undistort(org.jeometry.geom2D.point.Point2D distorted,
 org.jeometry.geom2D.point.Point2D undistorted)

Specified by:

undistort in interface LensDistortion

getDistortionCoefficients

public org.jeometry.math.Vector getDistortionCoefficients()

Specified by:

getDistortionCoefficients in interface LensDistortion

Specified by:

getDistortionCoefficients in interface LensDistortionMetashape

getDistortionCoefficients

public org.jeometry.math.Vector getDistortionCoefficients(org.jeometry.math.Vector parameters)
                                                   throws IllegalArgumentException

Specified by:

getDistortionCoefficients in interface LensDistortion

Specified by:

getDistortionCoefficients in interface LensDistortionMetashape

Throws:

IllegalArgumentException

setDistortionCoefficients

public void setDistortionCoefficients(org.jeometry.math.Vector parameters)
                               throws IllegalArgumentException

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionMetashape

Throws:

IllegalArgumentException

getDistortionCoefficientsFloat

public float[] getDistortionCoefficientsFloat()

Specified by:

getDistortionCoefficientsFloat in interface LensDistortion

Specified by:

getDistortionCoefficientsFloat in interface LensDistortionMetashape

getDistortionCoefficientsFloat

public float[] getDistortionCoefficientsFloat(float[] parameters)
                                       throws IllegalArgumentException

Specified by:

getDistortionCoefficientsFloat in interface LensDistortion

Specified by:

getDistortionCoefficientsFloat in interface LensDistortionMetashape

Throws:

IllegalArgumentException

setDistortionCoefficients

public void setDistortionCoefficients(float[] parameters)
                               throws IllegalArgumentException

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionMetashape

Throws:

IllegalArgumentException

getDistortionCoefficientsDouble

public double[] getDistortionCoefficientsDouble()

Specified by:

getDistortionCoefficientsDouble in interface LensDistortion

Specified by:

getDistortionCoefficientsDouble in interface LensDistortionMetashape

getDistortionCoefficientsDouble

public double[] getDistortionCoefficientsDouble(double[] parameters)
                                         throws IllegalArgumentException

Specified by:

getDistortionCoefficientsDouble in interface LensDistortion

Specified by:

getDistortionCoefficientsDouble in interface LensDistortionMetashape

Throws:

IllegalArgumentException

setDistortionCoefficients

public void setDistortionCoefficients(double[] parameters)
                               throws IllegalArgumentException

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionMetashape

Throws:

IllegalArgumentException

getK1

public double getK1()

Specified by:

getK1 in interface LensDistortionMetashape

setK1

public void setK1(double k1)

Specified by:

setK1 in interface LensDistortionMetashape

getK2

public double getK2()

Specified by:

getK2 in interface LensDistortionMetashape

setK2

public void setK2(double k2)

Specified by:

setK2 in interface LensDistortionMetashape

getK3

public double getK3()

Specified by:

getK3 in interface LensDistortionMetashape

setK3

public void setK3(double k3)

Specified by:

setK3 in interface LensDistortionMetashape

getK4

public double getK4()

Specified by:

getK4 in interface LensDistortionMetashape

setK4

public void setK4(double k4)

Specified by:

setK4 in interface LensDistortionMetashape

getP1

public double getP1()

Specified by:

getP1 in interface LensDistortionMetashape

setP1

public void setP1(double p1)

Specified by:

setP1 in interface LensDistortionMetashape

getP2

public double getP2()

Specified by:

getP2 in interface LensDistortionMetashape

setP2

public void setP2(double p2)

Specified by:

setP2 in interface LensDistortionMetashape

setDistortionCoefficients

public void setDistortionCoefficients(double k1,
 double k2,
 double k3,
 double k4,
 double p1,
 double p2)

Specified by:

setDistortionCoefficients in interface LensDistortionMetashape