vpi.WarpMap
- class vpi.WarpMap(grid: vpi.WarpGrid) vpi.WarpMap
- class vpi.WarpMap(regions: Tuple[List[int], List[int]], intervals: Tuple[List[int], List[int]]) vpi.WarpMap
- class vpi.WarpMap(size: Tuple[int, int], interval: Union[int, Tuple[int, int]] = None) vpi.WarpMap
Creates warpmap for Lens Distortion Correction.
It defines the mapping between input and output images’ pixels. It is used by
vpi.Image.remap()
. Warp map holds the mapping from output to input images. It allows both dense and sparse mapping.- Parameters
grid (vpi.WarpGrid) – The warp grid control point structure.
regions (Tuple[List[int], List[int]]) – The width and height of each region, respectively. See C API for details.
intervals (Tuple[List[int], List[int]])) – The horizontal and vertical intervals, respectively. They are the spacing between control points within a given region. See C API for details.
size (Tuple[int, int]) – The dimensions of the image.
interval (Union[int, Tuple[int, int]], optional) – The interval.
- Returns
The warp map.
- Return type
See also
Read more in the C API references of the group concepts.
- static fisheye_correction(grid: vpi.WarpGrid, Kin: 2D array, X: 2D array, Kout: 2D array, coeffs: 1D array, mapping: vpi.FisheyeMapping) vpi.WarpMap
- static fisheye_correction(grid: vpi.WarpGrid, Kin: 2D array, X: 2D array, coeffs: 1D array, mapping: vpi.FisheyeMapping) vpi.WarpMap
Does fisheye correction.
Generates a mapping that corrects image using fisheye lens distortion model.
See also
Refer to the algorithm explanation for more details and usage examples.
- Parameters
grid (vpi.WarpGrid) – The warp grid.
Kin (2D array of float) – The camera intrinsic parameters. Expects 2x3 matrix.
X (2D array of float) – The camera extrinsic parameters that defines the camera center position and its heading in world coordinates. Expects 3x4 matrix.
Kout (2D array of float, optional) – New camera intrinsic parameters applied to the undistorted image. Set Kout the same as Kin if missing (monocular camera). Expects 2x3 matrix.
coeffs (1D array of float) – The distortion coefficients.
mapping (vpi.FisheyeMapping) – The fisheye lens mapping type.
- Returns
The warp map.
- Return type
Note
Read more on the C API references of the group concepts.
- static polynomial_correction(grid: vpi.WarpGrid, Kin: 2D array, X: 2D array, Kout: 2D array, rcoeffs: 1D array, tcoeffs: 1D array = None) vpi.WarpMap
- static polynomial_correction(grid: vpi.WarpGrid, K: 2D array, X: 2D array, rcoeffs: 1D array, tcoeffs: 1D array = None) vpi.WarpMap
Does polynomial correction.
Generates a mapping that corrects image using polynomial lens distortion model.
See also
Refer to the algorithm explanation for more details and usage examples.
- Parameters
grid (vpi.WarpGrid) – The warp grid.
Kin (2D array of float) – The camera intrinsic parameters. Expects 2x3 matrix.
X (2D array of float) – The camera extrinsic parameters that defines the camera center position and its heading in world coordinates. Expects 3x4 matrix.
Kout (2D array of float, optional) – New camera intrinsic parameters applied to the undistorted image. Set Kout the same as Kin if missing (monocular camera). Expects 2x3 matrix.
rcoeffs (1D array of float) – The radial distortion coefficients.
tcoeffs (1D array of float, optional) – The tangential distortion coefficients.
- Returns
The warp map.
- Return type
See also
Read more in the C API references of the group concepts.
Attributes
grid
The
vpi.WarpGrid
of the warp map.