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...