## NVIDIA DRIVE OS Linux SDK API Reference

#### 5.1.6.0 Release

NvMediaLensDistortion Struct Reference

## Detailed Description

Holds distortion coefficients for the lens model.

Distortion coefficients are defined in the following way:

• k1, k2, k3, k4, k5, k6 are radial distortion coeffcients.
• p1 and p2 are tangential distortion coeffcients.

Setting any coefficient 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, and 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, NVMEDIA_LDC_MODEL_FISHEYE_EQUISOLID, NVMEDIA_LDC_MODEL_FISHEYE_ORTHOGRAPHIC, or NVMEDIA_LDC_MODEL_FISHEYE_STEREOGRAPHIC, the control parameters are k1, k2, k3, and 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 171 of file nvmedia_ldc.h.

## Data Fields

float_t k1
Holds the radial distortion coefficient. More...

float_t k2
Holds the radial distortion coefficient. More...

float_t k3
Holds the radial distortion coefficient. More...

float_t k4
Holds the radial distortion coefficient. More...

float_t k5
Holds the radial distortion coefficient. More...

float_t k6
Holds the radial distortion coefficient. More...

float_t p1
Holds the tangential distortion coefficient. More...

float_t p2
Holds the tangential distortion coefficient. More...

## Field Documentation

 float_t NvMediaLensDistortion::k1

Definition at line 173 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::k2

Definition at line 176 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::k3

Definition at line 179 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::k4

Definition at line 182 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::k5

Definition at line 185 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::k6

Definition at line 188 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::p1

Holds the tangential distortion coefficient.

Definition at line 191 of file nvmedia_ldc.h.

 float_t NvMediaLensDistortion::p2

Holds the tangential distortion coefficient.

Definition at line 194 of file nvmedia_ldc.h.

The documentation for this struct was generated from the following file: