Package org.jvision.camera.distortion

Class SimpleLensDistortionOpenCV

java.lang.Object

org.jvision.camera.distortion.SimpleLensDistortionOpenCV

All Implemented Interfaces:

LensDistortion, LensDistortionOpenCV

public class SimpleLensDistortionOpenCV
extends Object
implements LensDistortionOpenCV

A class dedicated to the handling of 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.

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

Constructor Summary

Constructors

Constructor	Description
SimpleLensDistortionOpenCV()	Create a new OpenCV lens distortion representation with no distortion. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(double[] coefficients)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(double k1, double k2, double k3, double p1, double p2)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2, double s1, double s2, double s3, double s4)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(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)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(float[] coefficients)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).
SimpleLensDistortionOpenCV(org.jeometry.math.Vector coefficients)	Create a new distortion representation based on OpenCV formalization with given coefficients. An OpenCV distortion is made of 4 components: Radial distortion defined by coefficients k1, k2, k3 (simple) and k4, k5, k6 (rational).

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 coefficients)
double[]	getDistortionCoefficientsDouble()
double[]	getDistortionCoefficientsDouble(double[] coefficients)
float[]	getDistortionCoefficientsFloat()
float[]	getDistortionCoefficientsFloat(float[] coefficients)
int	getDistortionComponents()
String	getDistortionConvention()
double	getK1()
double	getK2()
double	getK3()
double	getK4()
double	getK5()
double	getK6()
double	getP1()
double	getP2()
double	getS1()
double	getS2()
double	getS3()
double	getS4()
double	getTx()
double	getTy()
void	setDistortionCoefficients(double[] parameters)
void	setDistortionCoefficients(double k1, double k2, double k3, double p1, double p2)
void	setDistortionCoefficients(double k1, double k2, double k3, double k4, double k5, double k6, double p1, double p2)
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)
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)
void	setDistortionCoefficients(float[] coefficients)
void	setDistortionCoefficients(org.jeometry.math.Vector coefficients)
void	setK1(double k1)
void	setK2(double k2)
void	setK3(double k3)
void	setK4(double k4)
void	setK5(double k5)
void	setK6(double k6)
void	setP1(double p1)
void	setP2(double p2)
void	setS1(double s1)
void	setS2(double s2)
void	setS3(double s3)
void	setS4(double s4)
void	setTx(double tx)
void	setTy(double ty)
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 corrected)

Methods inherited from class java.lang.Object

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

Constructor Details

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV()

Create a new OpenCV lens distortion representation with no distortion.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(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)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Parameters:

k1 - the first radial distortion simple coefficient

k2 - the second radial distortion simple coefficient

k3 - the third radial distortion simple coefficient

k4 - the first radial distortion rational coefficient

k5 - the second radial distortion rational coefficient

k6 - the third radial distortion rational coefficient

p1 - the first tangential (decentering) distortion coefficient

p2 - the second tangential (decentering) distortion 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

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(double k1,
 double k2,
 double k3,
 double k4,
 double k5,
 double k6,
 double p1,
 double p2,
 double s1,
 double s2,
 double s3,
 double s4)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Parameters:

k1 - the first radial distortion simple coefficient

k2 - the second radial distortion simple coefficient

k3 - the third radial distortion simple coefficient

k4 - the first radial distortion rational coefficient

k5 - the second radial distortion rational coefficient

k6 - the third radial distortion rational coefficient

p1 - the first tangential (decentering) distortion coefficient

p2 - the second tangential (decentering) distortion 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

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(double k1,
 double k2,
 double k3,
 double k4,
 double k5,
 double k6,
 double p1,
 double p2)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Parameters:

k1 - the first radial distortion simple coefficient

k2 - the second radial distortion simple coefficient

k3 - the third radial distortion simple coefficient

k4 - the first radial distortion rational coefficient

k5 - the second radial distortion rational coefficient

k6 - the third radial distortion rational coefficient

p1 - the first tangential (decentering) distortion coefficient

p2 - the second tangential (decentering) distortion coefficient

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(double k1,
 double k2,
 double k3,
 double p1,
 double p2)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Parameters:

k1 - the first radial distortion simple coefficient

k2 - the second radial distortion simple coefficient

k3 - the third radial distortion simple coefficient

p1 - the first tangential (decentering) distortion coefficient

p2 - the second tangential (decentering) distortion coefficient

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(org.jeometry.math.Vector coefficients)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Accepted vectors are:

• (k₁, k₂ , p₁, p₂, k₃, k₄, k₅, k₆, s₁, s₂, s₃, s₄, τ_x, τ_y) (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

Parameters:

coefficients - the distortion coefficients

Throws:

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

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(float[] coefficients)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Accepted arrays are:

• [k₁, k₂ , p₁, p₂, k₃, k₄, k₅, k₆, s₁, s₂, s₃, s₄, τ_x, τ_y] (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

Parameters:

coefficients - the distortion coefficients

Throws:

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

SimpleLensDistortionOpenCV

public SimpleLensDistortionOpenCV(double[] coefficients)

Create a new distortion representation based on OpenCV formalization with given coefficients.

An OpenCV distortion is made of 4 components:

• Radial distortion defined by coefficients k₁, k₂, k₃ (simple) and k₄, k₅, k₆ (rational).
• Tangential (decentering) distortion defined by coefficients p₁ and p₂.
• Thin prism distortion defined by coefficients s₁, s₂, s₃ and s₄
• Tilt distortion defined by coefficients τx and τy.

Accepted arrays are:

• [k₁, k₂ , p₁, p₂, k₃, k₄, k₅, k₆, s₁, s₂, s₃, s₄, τ_x, τ_y] (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

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,
 org.jeometry.geom2D.point.Point2D distorted)

Specified by:

distort in interface LensDistortion

Specified by:

distort in interface LensDistortionOpenCV

distort

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

Specified by:

distort in interface LensDistortion

Specified by:

distort in interface LensDistortionOpenCV

undistort

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

Specified by:

undistort in interface LensDistortion

Specified by:

undistort in interface LensDistortionOpenCV

undistort

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

Specified by:

undistort in interface LensDistortion

Specified by:

undistort in interface LensDistortionOpenCV

getDistortionCoefficients

public org.jeometry.math.Vector getDistortionCoefficients()

Specified by:

getDistortionCoefficients in interface LensDistortion

Specified by:

getDistortionCoefficients in interface LensDistortionOpenCV

getDistortionCoefficients

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

Specified by:

getDistortionCoefficients in interface LensDistortion

Specified by:

getDistortionCoefficients in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

setDistortionCoefficients

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

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

getDistortionCoefficientsFloat

public float[] getDistortionCoefficientsFloat()

Specified by:

getDistortionCoefficientsFloat in interface LensDistortion

Specified by:

getDistortionCoefficientsFloat in interface LensDistortionOpenCV

getDistortionCoefficientsFloat

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

Specified by:

getDistortionCoefficientsFloat in interface LensDistortion

Specified by:

getDistortionCoefficientsFloat in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

setDistortionCoefficients

public void setDistortionCoefficients(float[] coefficients)
                               throws IllegalArgumentException

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

getDistortionCoefficientsDouble

public double[] getDistortionCoefficientsDouble()

Specified by:

getDistortionCoefficientsDouble in interface LensDistortion

Specified by:

getDistortionCoefficientsDouble in interface LensDistortionOpenCV

getDistortionCoefficientsDouble

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

Specified by:

getDistortionCoefficientsDouble in interface LensDistortion

Specified by:

getDistortionCoefficientsDouble in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

setDistortionCoefficients

public void setDistortionCoefficients(double[] parameters)
                               throws IllegalArgumentException

Specified by:

setDistortionCoefficients in interface LensDistortion

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

Throws:

IllegalArgumentException

getK1

public double getK1()

Specified by:

getK1 in interface LensDistortionOpenCV

setK1

public void setK1(double k1)

Specified by:

setK1 in interface LensDistortionOpenCV

getK2

public double getK2()

Specified by:

getK2 in interface LensDistortionOpenCV

setK2

public void setK2(double k2)

Specified by:

setK2 in interface LensDistortionOpenCV

getK3

public double getK3()

Specified by:

getK3 in interface LensDistortionOpenCV

setK3

public void setK3(double k3)

Specified by:

setK3 in interface LensDistortionOpenCV

getK4

public double getK4()

Specified by:

getK4 in interface LensDistortionOpenCV

setK4

public void setK4(double k4)

Specified by:

setK4 in interface LensDistortionOpenCV

getK5

public double getK5()

Specified by:

getK5 in interface LensDistortionOpenCV

setK5

public void setK5(double k5)

Specified by:

setK5 in interface LensDistortionOpenCV

getK6

public double getK6()

Specified by:

getK6 in interface LensDistortionOpenCV

setK6

public void setK6(double k6)

Specified by:

setK6 in interface LensDistortionOpenCV

getP1

public double getP1()

Specified by:

getP1 in interface LensDistortionOpenCV

setP1

public void setP1(double p1)

Specified by:

setP1 in interface LensDistortionOpenCV

getP2

public double getP2()

Specified by:

getP2 in interface LensDistortionOpenCV

setP2

public void setP2(double p2)

Specified by:

setP2 in interface LensDistortionOpenCV

getS1

public double getS1()

Specified by:

getS1 in interface LensDistortionOpenCV

setS1

public void setS1(double s1)

Specified by:

setS1 in interface LensDistortionOpenCV

getS2

public double getS2()

Specified by:

getS2 in interface LensDistortionOpenCV

setS2

public void setS2(double s2)

Specified by:

setS2 in interface LensDistortionOpenCV

getS3

public double getS3()

Specified by:

getS3 in interface LensDistortionOpenCV

setS3

public void setS3(double s3)

Specified by:

setS3 in interface LensDistortionOpenCV

getS4

public double getS4()

Specified by:

getS4 in interface LensDistortionOpenCV

setS4

public void setS4(double s4)

Specified by:

setS4 in interface LensDistortionOpenCV

getTx

public double getTx()

Specified by:

getTx in interface LensDistortionOpenCV

setTx

public void setTx(double tx)

Specified by:

setTx in interface LensDistortionOpenCV

getTy

public double getTy()

Specified by:

getTy in interface LensDistortionOpenCV

setTy

public void setTy(double ty)

Specified by:

setTy in interface LensDistortionOpenCV

setDistortionCoefficients

public 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)

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

setDistortionCoefficients

public 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)

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

setDistortionCoefficients

public void setDistortionCoefficients(double k1,
 double k2,
 double k3,
 double k4,
 double k5,
 double k6,
 double p1,
 double p2)

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV

setDistortionCoefficients

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

Specified by:

setDistortionCoefficients in interface LensDistortionOpenCV