boofcv 1.0.0

class: CameraPinholeBrown

[156:7] extends: CameraPinhole

CameraPinholeBrown wraps boofcv.struct.calib.CameraPinholeBrown.

Methods

• CameraPinholeBrown (NumRadial = 2)

  Creates or wraps a Brown pinhole camera.

  • @p NumRadial is number of radial coefficients or an existing camera object.

• fsetRadial (R0, R1 = 0.0)

  Sets two radial coefficients.

  • @p R0 is the first coefficient.
  • @p R1 is the second coefficient.
  • @r This camera.

• fsetTangential (T1, T2)

  Sets tangential coefficients.

  • @p T1 is tangential x.
  • @p T2 is tangential y.
  • @r This camera.

• isDistorted ()

  Gets whether distortion is non-zero.

  • @r True if distorted.

• getRadial ()

  Gets radial coefficients.

  • @r A Java double array.

class: CameraPinhole

[86:7] extends: object

CameraPinhole wraps boofcv.struct.calib.CameraPinhole.

Members

• obj

Methods

• CameraPinhole (Fx = 0.0, Fy = 0.0, Skew = 0.0, Cx = 0.0, Cy = 0.0, int Width = 0, int Height = 0)

  Creates or wraps a pinhole camera.

  • @p Fx is focal x or an existing camera object.
  • @p Fy is focal y.
  • @p Skew is camera skew.
  • @p Cx is center x.
  • @p Cy is center y.
  • @p Width is image width.
  • @p Height is image height.

• get (string Name)

  Gets a public field.

  • @p Name is fx, fy, skew, cx, cy, width, or height.
  • @r The field value.

• set (string Name, Value)

  Sets a public field.

  • @p Name is fx, fy, skew, cx, cy, width, or height.
  • @p Value is the new value.

• fsetK (Fx, Fy, Skew, Cx, Cy)

  Sets calibration matrix fields.

  • @p Fx is focal x.
  • @p Fy is focal y.
  • @p Skew is skew.
  • @p Cx is center x.
  • @p Cy is center y.
  • @r This camera.

• fsetShape (int Width, int Height)

  Sets image shape.

  • @p Width is image width.
  • @p Height is image height.
  • @r This camera.

• isInside (X, Y)

  Checks whether a pixel is inside the image.

  • @p X is x.
  • @p Y is y.
  • @r True if inside.

• createLike ()

  Creates a like camera model.

  • @r A Java camera model object.

class: Zhang99Camera

[531:7] extends: object

Zhang99Camera wraps boofcv.alg.geo.calibration.cameras.Zhang99Camera.

Members

• obj

Methods

• Zhang99Camera (object Obj)

  Wraps a Zhang99 camera model generator.

  • @p Obj is an existing Zhang99Camera Java object.

• setLayouts (object Layouts)

  Sets calibration target layouts.

  • @p Layouts is a Java list of point layouts.

• initializeCamera (object K, object Homographies, object Observations)

  Initializes a bundle-adjustment camera.

  • @p K is intrinsic matrix.
  • @p Homographies is a Java list of homographies.
  • @p Observations is a Java list of CalibrationObservation objects.
  • @r A BundleAdjustmentCamera Java object.

• getCameraModel (object Camera)

  Converts bundle-adjustment camera parameters to a camera model.

  • @p Camera is a BundleAdjustmentCamera Java object.
  • @r A CameraModel Java object.

class: Zhang99CameraUniversalOmni

[575:7] extends: Zhang99Camera

Zhang99CameraUniversalOmni wraps boofcv.alg.geo.calibration.cameras.Zhang99CameraUniversalOmni.

Methods

• Zhang99CameraUniversalOmni (bool AssumeZeroSkew = true, bool IncludeTangential = true, int NumRadial = 2, Mirror = null)

  Creates a universal omni Zhang99 camera generator.

  • @p AssumeZeroSkew true fixes skew to zero.
  • @p IncludeTangential true includes tangential terms.
  • @p NumRadial is radial coefficient count.
  • @p Mirror is optional fixed mirror value; null estimates mirror.

class: CalibrationQuality

[503:7] extends: object

CalibrationQuality wraps boofcv.abst.geo.calibration.CalibrationQuality.

Members

• obj

Methods

• CalibrationQuality (Obj = null)

  Creates or wraps calibration quality metrics.

  • @p Obj is an existing CalibrationQuality object or null.

• get (string Name)

  Gets a public field.

  • @p Name is borderFill, innerFill, or geometric.
  • @r The field value.

• setDouble (string Name, double Value)

  Sets a public metric.

  • @p Name is borderFill, innerFill, or geometric.
  • @p Value is the new value.

• reset ()

  Resets all metrics.

class: MultiCameraCalibParams

[332:7] extends: object

MultiCameraCalibParams wraps boofcv.struct.calib.MultiCameraCalibParams.

Members

• obj

Methods

• MultiCameraCalibParams (Obj = null)

  Creates or wraps multi-camera calibration parameters.

  • @p Obj is an existing params object or null.

• reset ()

  Resets this parameter set.

• getIntrinsics (int Index)

  Gets intrinsics for a camera.

  • @p Index is the camera index.
  • @r The camera model Java object.

• getCameraToSensor (int Index)

  Gets camera-to-sensor transform.

  • @p Index is the camera index.
  • @r A Se3_F64 Java object.

• getBaseline (int CameraA, int CameraB)

  Gets baseline between two cameras.

  • @p CameraA is the first camera.
  • @p CameraB is the second camera.
  • @r The baseline distance.

• getIntrinsicsList ()

  Gets the intrinsics list.

  • @r A Java list of camera models.

• getCamerasToSensor ()

  Gets the camera-to-sensor list.

  • @r A Java list of transforms.

class: StereoParameters

[287:7] extends: object

StereoParameters wraps boofcv.struct.calib.StereoParameters.

Members

• obj

Methods

• StereoParameters (Obj = null)

  Creates or wraps stereo parameters.

• get (string Name)

  Gets a public field.

  • @p Name is left, right, or right_to_left.
  • @r The field value.

• getBaseline ()

  Gets the baseline.

  • @r The stereo baseline.

• getLeft ()

  Gets left camera parameters.

  • @r A CameraPinholeBrown Java object.

• setLeft (object Left)

  Sets left camera parameters.

  • @p Left is a CameraPinholeBrown wrapper.

• getRight ()

  Gets right camera parameters.

  • @r A CameraPinholeBrown Java object.

• setRight (object Right)

  Sets right camera parameters.

  • @p Right is a CameraPinholeBrown wrapper.

class: CalibrateMonoPlanar

[681:7] extends: object

CalibrateMonoPlanar wraps boofcv.abst.geo.calibration.CalibrateMonoPlanar.

Members

• obj

Methods

• CalibrateMonoPlanar ()

  Creates a mono planar calibrator.

• initialize (int Width, int Height, object Layouts)

  Initializes calibration.

  • @p Width is image width.
  • @p Height is image height.
  • @p Layouts is a Java list of calibration target layouts.

• configurePinhole (bool AssumeZeroSkew, int NumRadial, bool IncludeTangential)

  Configures a pinhole model.

  • @p AssumeZeroSkew true assumes zero skew.
  • @p NumRadial is the number of radial coefficients.
  • @p IncludeTangential true includes tangential coefficients.

• configureUniversalOmni (bool AssumeZeroSkew, int NumRadial, bool IncludeTangential)

  Configures a universal omni model.

  • @p AssumeZeroSkew true assumes zero skew.
  • @p NumRadial is radial count.
  • @p IncludeTangential true includes tangential terms.

• configureKannalaBrandt (bool AssumeZeroSkew, int NumSymmetric, int NumAsymmetric)

  Configures a Kannala-Brandt model.

  • @p AssumeZeroSkew true assumes zero skew.
  • @p NumSymmetric is symmetric coefficient count.
  • @p NumAsymmetric is asymmetric coefficient count.

• addImage (object Observation)

  Adds one calibration observation.

  • @p Observation is a CalibrationObservation Java object.

• removeLatestImage ()

  Removes the latest image.

• process ()

  Runs calibration.

  • @r The found camera model Java object.

• getIntrinsic ()

  Gets intrinsic calibration.

  • @r The intrinsic camera model Java object.

• getObservations ()

  Gets calibration observations.

  • @r A Java list of observations.

• getErrors ()

  Gets calibration errors.

  • @r A Java list of image results.

class: Zhang99CameraBrown

[562:7] extends: Zhang99Camera

Zhang99CameraBrown wraps boofcv.alg.geo.calibration.cameras.Zhang99CameraBrown.

Methods

• Zhang99CameraBrown (bool AssumeZeroSkew = true, bool IncludeTangential = true, int NumRadial = 2)

  Creates a Brown pinhole Zhang99 camera generator.

  • @p AssumeZeroSkew true fixes skew to zero.
  • @p IncludeTangential true includes tangential terms.
  • @p NumRadial is radial coefficient count.

class: CalibrationObservation

[377:7] extends: object

CalibrationObservation wraps boofcv.alg.geo.calibration.CalibrationObservation.

Members

• obj

Methods

• CalibrationObservation (Obj = null)

  Creates or wraps calibration observations.

  • @p Obj is an existing observation object or null.

• get (string Name)

  Gets a public field.

  • @p Name is target or points.
  • @r The field value.

• setTarget (int Target)

  Sets the target id.

  • @p Target is the target id.

• setTo (object Observation)

  Copies another observation into this object.

  • @p Observation is a CalibrationObservation wrapper or Java object.
  • @r This wrapper.

• getPoint (int Index)

  Gets one point observation.

  • @p Index is the observation index.
  • @r A PointIndex2D_F64 Java object.

• addPoint (int Index, object Point)

  Adds an observed point.

  • @p Index is the calibration point index.
  • @p Point is a Point2D_F64 wrapper or Java object.

• add (int Index, double X, double Y)

  Adds an observed point from coordinates.

  • @p Index is the calibration point index.
  • @p X is x.
  • @p Y is y.

• reset ()

  Clears all observations.

• sort ()

  Sorts observations by point index.

• size ()

  Gets observation count.

  • @r The number of observed points.

• copy ()

  Copies this observation.

  • @r A CalibrationObservation wrapper.

• getTarget ()

  Gets target id.

  • @r The target id.

• getPoints ()

  Gets observed points.

  • @r A Java list of PointIndex2D_F64 objects.

class: CalibrateStereoPlanar

[749:7] extends: object

CalibrateStereoPlanar wraps boofcv.abst.geo.calibration.CalibrateStereoPlanar.

Members

• obj

Methods

• CalibrateStereoPlanar (object Layouts)

  Creates a stereo planar calibrator.

  • @p Layouts is a Java list of calibration target layouts.

• initialize (object LeftShape, object RightShape)

  Initializes calibration.

  • @p LeftShape is the left ImageDimension.
  • @p RightShape is the right ImageDimension.

• configure (bool AssumeZeroSkew, int NumRadial, bool IncludeTangential)

  Configures a Brown pinhole stereo model.

  • @p AssumeZeroSkew true assumes zero skew.
  • @p NumRadial is radial count.
  • @p IncludeTangential true includes tangential terms.

• addPair (int TargetIndex, object Left, object Right)

  Adds a stereo observation pair.

  • @p TargetIndex is target index.
  • @p Left is left observations.
  • @p Right is right observations.

• process ()

  Runs calibration.

  • @r StereoParameters Java object.

• getCalibLeft ()

  Gets the left mono calibrator.

  • @r CalibrateMonoPlanar Java object.

• getCalibRight ()

  Gets the right mono calibrator.

  • @r CalibrateMonoPlanar Java object.

class: ImageResults

[453:7] extends: object

ImageResults wraps boofcv.abst.geo.calibration.ImageResults.

Members

• obj

Methods

• ImageResults (int NumPoints = 0)

  Creates per-image calibration errors.

  • @p NumPoints is point count.

• wrap (object Obj)

  Wraps existing per-image calibration errors.

  • @p Obj is an ImageResults Java object or wrapper.
  • @r An ImageResults wrapper.

• get (string Name)

  Gets a public field.

  • @p Name is meanError, maxError, biasX, biasY, pointError, or residuals.
  • @r The field value.

• setDouble (string Name, double Value)

  Sets a floating-point field.

  • @p Name is meanError, maxError, biasX, or biasY.
  • @p Value is the new value.

• getMeanError ()

  Gets mean error.

  • @r Mean reprojection error.

• getMaxError ()

  Gets max error.

  • @r Maximum reprojection error.

• getBiasX ()

  Gets x bias.

  • @r X residual bias.

• getBiasY ()

  Gets y bias.

  • @r Y residual bias.

class: ImageDimension

[22:7] extends: object

ImageDimension wraps boofcv.struct.image.ImageDimension.

Members

• obj

Methods

• ImageDimension (Width = null, Height = null)

  Creates or wraps an image dimension.

  • @p Width is image width, an existing ImageDimension object, or null.
  • @p Height is image height.

• setTo (object Dimension)

  Copies another dimension into this object.

  • @p Dimension is an ImageDimension wrapper or Java object.
  • @r This wrapper.

• setShape (int Width, int Height)

  Sets width and height.

  • @p Width is image width.
  • @p Height is image height.
  • @r This wrapper.

• isIdentical (object Dimension)

  Checks exact equality with another dimension.

  • @p Dimension is an ImageDimension wrapper or Java object.
  • @r True if identical.

• isIdenticalShape (int Width, int Height)

  Checks exact equality with a width and height.

  • @p Width is image width.
  • @p Height is image height.
  • @r True if identical.

• getMaxLength ()

  Gets maximum side length.

  • @r The maximum of width and height.

• getWidth ()

  Gets width.

  • @r The width.

• getHeight ()

  Gets height.

  • @r The height.

• setWidth (int Width)

  Sets width.

  • @p Width is image width.

• setHeight (int Height)

  Sets height.

  • @p Height is image height.

class: CameraKannalaBrandt

[239:7] extends: CameraPinhole

CameraKannalaBrandt wraps boofcv.struct.calib.CameraKannalaBrandt.

Methods

• CameraKannalaBrandt (int NumSymmetric = 0, int NumAsymmetric = 0, Obj = null)

  Creates or wraps a Kannala-Brandt camera.

  • @p NumSymmetric is symmetric coefficient count.
  • @p NumAsymmetric is asymmetric coefficient count.
  • @p Obj is an existing camera object or null.

• configureCoefficients (int NumSymmetric, int NumAsymmetric)

  Configures coefficient counts.

  • @p NumSymmetric is symmetric count.
  • @p NumAsymmetric is asymmetric count.

• isSymmetricModel ()

  Gets whether this is a symmetric model.

  • @r True if symmetric-only.

• isAsymmetricModel ()

  Gets whether this is an asymmetric model.

  • @r True if asymmetric terms are present.

• getSymmetric ()

  Gets symmetric coefficients.

  • @r A Java double array.

• getRadial ()

  Gets radial coefficients.

  • @r A Java double array.

• getTangent ()

  Gets tangent coefficients.

  • @r A Java double array.

class: CalibrationIO

[846:14] static extends: object

Static wrappers for boofcv.io.calibration.CalibrationIO.

Methods

• save (object Model, string Path)

  Saves a camera or stereo model.

  • @p Model is a camera model, stereo parameters, or wrapper.
  • @p Path is the output file path.

• load (string Path)

  Loads a calibration model.

  • @p Path is the input file path.
  • @r The loaded Java calibration object.

• saveOpencv (object Model, string Path)

  Saves a Brown pinhole model in OpenCV format.

  • @p Model is a CameraPinholeBrown wrapper.
  • @p Path is the output file path.

• loadOpenCV (string Path)

  Loads an OpenCV Brown pinhole model.

  • @p Path is the input file path.
  • @r A CameraPinholeBrown wrapper.

class: Zhang99CameraKannalaBrandt

[589:7] extends: Zhang99Camera

Zhang99CameraKannalaBrandt wraps boofcv.alg.geo.calibration.cameras.Zhang99CameraKannalaBrandt.

Methods

• Zhang99CameraKannalaBrandt (bool AssumeZeroSkew = true, int NumSymmetric = 3, int NumAsymmetric = 2)

  Creates a Kannala-Brandt Zhang99 camera generator.

  • @p AssumeZeroSkew true fixes skew to zero.
  • @p NumSymmetric is symmetric coefficient count.
  • @p NumAsymmetric is asymmetric coefficient count.

class: CalibrationPlanarGridZhang99

[602:7] extends: object

CalibrationPlanarGridZhang99 wraps boofcv.alg.geo.calibration.CalibrationPlanarGridZhang99.

Members

• obj

Methods

• CalibrationPlanarGridZhang99 (object CameraGenerator)

  Creates a Zhang99 planar-grid calibrator.

  • @p CameraGenerator is a Zhang99Camera wrapper.

• process (object Observations)

  Processes calibration observations.

  • @p Observations is a Java list of CalibrationObservation objects.
  • @r True on success.

• performBundleAdjustment ()

  Performs bundle adjustment after linear initialization.

  • @r True on success.

• computeErrors ()

  Computes per-image errors.

  • @r A Java list of ImageResults objects.

• getCameraModel ()

  Gets the estimated camera model.

  • @r A CameraModel Java object.

• getMinimumObservedPoints ()

  Gets the minimum observed point count.

  • @r The minimum count.

• isZeroSkew ()

  Gets zero-skew setting.

  • @r True if zero skew is assumed.

• setZeroSkew (bool ZeroSkew)

  Sets zero-skew setting.

  • @p ZeroSkew true assumes zero skew.

• getConfigConvergeSBA ()

  Gets convergence config.

  • @r A ConfigConverge Java object.

• getConfigSBA ()

  Gets bundle-adjustment config.

  • @r A ConfigBundleAdjustment Java object.

• getStructure ()

  Gets bundle structure.

  • @r A SceneStructureMetric Java object.

• getObservations ()

  Gets bundle observations.

  • @r A SceneObservations Java object.

• setLayouts (object Layouts)

  Sets calibration target layouts.

  • @p Layouts is a Java list of point layouts.

• totalPoints (object Observations)

  Counts all observed points.

  • @p Observations is a Java list of CalibrationObservation objects.
  • @r Total observed points.

class: CalibrateMultiPlanar

[796:7] extends: object

CalibrateMultiPlanar wraps boofcv.abst.geo.calibration.CalibrateMultiPlanar.

Members

• obj

Methods

• CalibrateMultiPlanar ()

  Creates a multi-camera planar calibrator.

• initialize (int NumCameras, int NumTargets)

  Initializes the calibrator.

  • @p NumCameras is camera count.
  • @p NumTargets is target count.

• setCameraProperties (int CameraIndex, int Width, int Height)

  Sets camera properties.

  • @p CameraIndex is camera index.
  • @p Width is image width.
  • @p Height is image height.

• setTargetLayout (int TargetIndex, object Layout)

  Sets target layout.

  • @p TargetIndex is target index.
  • @p Layout is a Java point layout.

• addObservation (object Observation)

  Adds synchronized observations.

  • @p Observation is a SynchronizedCalObs Java object.

• process ()

  Runs calibration.

  • @r True on success.

• getResults ()

  Gets results.

  • @r A MultiCameraCalibParams wrapper.

• getStatistics ()

  Gets statistics.

  • @r A Java DogArray of camera statistics.

class: CameraUniversalOmni

[194:7] extends: CameraPinhole

CameraUniversalOmni wraps boofcv.struct.calib.CameraUniversalOmni.

Methods

• CameraUniversalOmni (int NumRadial = 2, Obj = null)

  Creates or wraps a universal omni camera.

  • @p NumRadial is the number of radial coefficients.
  • @p Obj is an existing camera object or null.

• fsetMirror (MirrorOffset)

  Sets mirror offset.

  • @p MirrorOffset is the mirror offset.
  • @r This camera.

• fsetTangential (T1, T2)

  Sets tangential coefficients.

  • @p T1 is tangential x.
  • @p T2 is tangential y.
  • @r This camera.

• getRadial ()

  Gets radial coefficients.

  • @r A Java double array.

• getMirrorOffset ()

  Gets mirror offset.

  • @r The mirror offset.

• getT1 ()

  Gets t1 tangential coefficient.

  • @r The t1 coefficient.

• getT2 ()

  Gets t2 tangential coefficient.

  • @r The t2 coefficient.