Detailed Description

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 NvMediaLdcLensModel is NVMEDIA_LDC_LENS_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_LENS_MODEL_FISHEYE_EQUIDISTANT, NVMEDIA_LDC_LENS_MODEL_FISHEYE_EQUISOLID, NVMEDIA_LDC_LENS_MODEL_FISHEYE_ORTHOGRAPHIC, or NVMEDIA_LDC_LENS_MODEL_FISHEYE_STEREOGRAPHIC, the control parameters are k1, k2, k3, and k4.

\(r = sqrt (x ^ 2 + y ^ 2)\)
\(theta = atan(r)\)
\(theta_d = theta * (1 + k1 * theta^2 + k2 * theta^4 + k3 * theta^6 + k4 * theta^8)\)

See also: NvMediaLdcGenWarpMap

Definition at line 127 of file nvmedia_ldc_util.h.

Data Fields
NvMediaLdcLensModel	model
	Camera model. More...

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

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

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

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

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

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

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

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