change_radial_distortion_imageT_change_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image (Operator)

Name

change_radial_distortion_imageT_change_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image — Change the radial distortion of an image.

Signature

Description

change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image changes the radial distortion of the input image ImageImageImageImageimageimage in accordance to the internal camera parameters CamParamInCamParamInCamParamInCamParamIncamParamIncam_param_in and CamParamOutCamParamOutCamParamOutCamParamOutcamParamOutcam_param_out. Each pixel of the output image that lies within the region RegionRegionRegionRegionregionregion is transformed into the image plane using CamParamOutCamParamOutCamParamOutCamParamOutcamParamOutcam_param_out and subsequently projected into a subpixel of ImageImageImageImageimageimage using CamParamInCamParamInCamParamInCamParamIncamParamIncam_param_in. The resulting gray value is determined by bilinear interpolation. If the subpixel is outside of ImageImageImageImageimageimage, the corresponding pixel in ImageRectifiedImageRectifiedImageRectifiedImageRectifiedimageRectifiedimage_rectified 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 RegionRegionRegionRegionregionregion (which must be previously generated by, for example, using gen_empty_objgen_empty_objGenEmptyObjGenEmptyObjGenEmptyObjgen_empty_obj). 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 RegionRegionRegionRegionregionregion.

If CamParamOutCamParamOutCamParamOutCamParamOutcamParamOutcam_param_out was computed via change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamParchange_radial_distortion_cam_par, ImageRectifiedImageRectifiedImageRectifiedImageRectifiedimageRectifiedimage_rectified is equivalent to ImageImageImageImageimageimage obtained with a lens with a modified radial distortion. If the image is rectified. A subsequent pose estimation (determination of the external camera parameters) is not affected by this operation.

Please note that change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image does not work for line scan cameras with perspective lenses. Instead, you might want to use image_to_world_planeimage_to_world_planeImageToWorldPlaneImageToWorldPlaneImageToWorldPlaneimage_to_world_plane.

Attention

change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image 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.

Execution Information

• Supports OpenCL compute devices.
• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Automatically parallelized on channel level.

Parameters

Result

change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image 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>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)SetSystem("no_object_result",<Result>)set_system("no_object_result",<Result>). If necessary, an exception is raised.

Possible Predecessors

change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamParchange_radial_distortion_cam_par, read_imageread_imageReadImageReadImageReadImageread_image, grab_imagegrab_imageGrabImageGrabImageGrabImagegrab_image

Possible Successors

edges_imageedges_imageEdgesImageEdgesImageEdgesImageedges_image, thresholdthresholdThresholdThresholdThresholdthreshold

See also

change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamParchange_radial_distortion_cam_par, camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration, read_cam_parread_cam_parReadCamParReadCamParReadCamParread_cam_par, change_radial_distortion_contours_xldchange_radial_distortion_contours_xldChangeRadialDistortionContoursXldChangeRadialDistortionContoursXldChangeRadialDistortionContoursXldchange_radial_distortion_contours_xld, change_radial_distortion_pointschange_radial_distortion_pointsChangeRadialDistortionPointsChangeRadialDistortionPointsChangeRadialDistortionPointschange_radial_distortion_points

Module

Calibration