change_radial_distortion_imageT_change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImage (Operator)

Name

change_radial_distortion_imageT_change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImage — Change the radial distortion of an image.

Signature

Description

change_radial_distortion_imagechange_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImage changes the radial distortion of the input image ImageImageImageImageimage in accordance to the internal camera parameters CamParamInCamParamInCamParamInCamParamIncamParamIn and CamParamOutCamParamOutCamParamOutCamParamOutcamParamOut. Each pixel of the output image that lies within the region RegionRegionRegionRegionregion is transformed into the image plane using CamParamOutCamParamOutCamParamOutCamParamOutcamParamOut and subsequently projected into a subpixel of ImageImageImageImageimage using CamParamInCamParamInCamParamInCamParamIncamParamIn. The resulting gray value is determined by bilinear interpolation. If the subpixel is outside of ImageImageImageImageimage, the corresponding pixel in ImageRectifiedImageRectifiedImageRectifiedImageRectifiedimageRectified is set to 'black' and eliminated from the image domain.

If the gray values of all pixels in the output image shall be calculated, it is sufficient to pass an empty object in RegionRegionRegionRegionregion (which must be previously generated by, for example, using gen_empty_objgen_empty_objgen_empty_objGenEmptyObjGenEmptyObj). This is especially useful if the size of the output image differs from the size of the input image, and hence, it is not possible to simply pass the region of the input image in RegionRegionRegionRegionregion.

If CamParamOutCamParamOutCamParamOutCamParamOutcamParamOut was computed via change_radial_distortion_cam_parchange_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamPar, ImageRectifiedImageRectifiedImageRectifiedImageRectifiedimageRectified is equivalent to ImageImageImageImageimage obtained with a lens with a modified radial distortion. If Kappa is 0 the image is rectified. A subsequent pose estimation (determination of the external camera parameters) is not affected by this operation.

Attention

change_radial_distortion_imagechange_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImage can be executed on OpenCL devices if the input image does not exceed the maximum size of image objects of the selected device. As the OpenCL implementation uses single precision arithmetic, the results can differ from the CPU implementation.

Parallelization

• Supports OpenCL compute devices.
• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

change_radial_distortion_imagechange_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImage returns 2 (H_MSG_TRUE) if all parameter values are correct. If the input is empty (no input image is available) the behavior can be set via set_system('no_object_result',<Result>)set_system("no_object_result",<Result>)set_system("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>). If necessary, an exception is raised.

Possible Predecessors

change_radial_distortion_cam_parchange_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamPar, read_imageread_imageread_imageReadImageReadImage, grab_imagegrab_imagegrab_imageGrabImageGrabImage

Possible Successors

edges_imageedges_imageedges_imageEdgesImageEdgesImage, thresholdthresholdthresholdThresholdThreshold

See also

change_radial_distortion_cam_parchange_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamPar, camera_calibrationcamera_calibrationcamera_calibrationCameraCalibrationCameraCalibration, read_cam_parread_cam_parread_cam_parReadCamParReadCamPar, change_radial_distortion_contours_xldchange_radial_distortion_contours_xldchange_radial_distortion_contours_xldChangeRadialDistortionContoursXldChangeRadialDistortionContoursXld, change_radial_distortion_pointschange_radial_distortion_pointschange_radial_distortion_pointsChangeRadialDistortionPointsChangeRadialDistortionPoints

Module

Calibration