NVIDIA DRIVE OS Linux API Reference5.1.0.2 Release |
Holds distortion coefficients for the lens model.
Distortion coefficients is defined in the following way: k1, k2, k3, k4, k5, k6 are radial distortion coeffcients. p1 and p2 are tangential distortion coeffcients. Setting any of the coefficients to 0 implies that it is not used in computation.
If we denote a point without distortion as [x, y, 1] and the corresponding point with distortion as [xd, yd, 1], then the distortion model is defined as follows:
When NvMediaLensModel is NVMEDIA_LDC_MODEL_POLYNOMIAL_DISTORTION The control parameters are k1, k2, k3, k4, k5, k6, p1, p2.
r = sqrt (x ^ 2 + y ^ 2) kr = (1 + k1 * r^2 + k2 * r^4 + k3 * r^6) / (1 + k4 * r^2 + k5 * r^4 + k6 * r^6) xd = x * kr + p1 * (2 * x * y) + p2 * (r^2 + 2 * x^2) yd = y * kr + p1 * (r^2 + 2 * y^2) + p2 * (2 * x * y)
When NvMediaLensModel is NVMEDIA_LDC_MODEL_FISHEYE_EQUIDISTANT or NVMEDIA_LDC_MODEL_FISHEYE_EQUISOLID or NVMEDIA_LDC_MODEL_FISHEYE_ORTHOGRAPHIC or NVMEDIA_LDC_MODEL_FISHEYE_STEREOGRAPHIC The control parameters are k1, k2, k3, k4.
r = sqrt (x ^ 2 + y ^ 2) theta = atan(r) theta_d = theta * (1 + k1 * theta^2 + k2 * theta^4 + k3 * theta^6 + k4 * theta^8)
Definition at line 166 of file nvmedia_ldc.h.
Data Fields | |
float_t | k1 |
Specifies radial distortion coefficient. More... | |
float_t | k2 |
Specifies radial distortion coefficient. More... | |
float_t | k3 |
Specifies radial distortion coefficient. More... | |
float_t | k4 |
Specifies radial distortion coefficient. More... | |
float_t | k5 |
Specifies radial distortion coefficient. More... | |
float_t | k6 |
Specifies radial distortion coefficient. More... | |
float_t | p1 |
Specifies tangential distortion coefficient. More... | |
float_t | p2 |
Specifies tangential distortion coefficient. More... | |
float_t NvMediaLensDistortion::k1 |
Specifies radial distortion coefficient.
Definition at line 168 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::k2 |
Specifies radial distortion coefficient.
Definition at line 171 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::k3 |
Specifies radial distortion coefficient.
Definition at line 174 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::k4 |
Specifies radial distortion coefficient.
Definition at line 177 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::k5 |
Specifies radial distortion coefficient.
Definition at line 180 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::k6 |
Specifies radial distortion coefficient.
Definition at line 183 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::p1 |
Specifies tangential distortion coefficient.
Definition at line 186 of file nvmedia_ldc.h.
float_t NvMediaLensDistortion::p2 |
Specifies tangential distortion coefficient.
Definition at line 189 of file nvmedia_ldc.h.