Index
All Classes and Interfaces|All Packages|Constant Field Values
A
- addView(Pnt2d[]) - Method in class imagingbook.calibration.zhang.Calibrator
-
Adds a new observation (a sequence of 2D image points) of the planar calibration pattern.
- AllCalibrationResults_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- AllCalibrationResultsEasyCalib_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- applyTo(double[]) - Method in class imagingbook.calibration.zhang.ViewTransform
-
Moves point XYZ from 3D world coordinates to 3D camera coordinates, as specified by the transformations of this view.
- applyTo(Pnt2d) - Method in class imagingbook.calibration.zhang.InterCameraMapping
- applyTo(Pnt2d) - Method in class imagingbook.calibration.zhang.RectificationMapping
- assumeZeroSkew - Variable in class imagingbook.calibration.zhang.Calibrator.Parameters
-
Assume that the camera has no skew (currently not used).
C
- CalibIm1 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- CalibIm2 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- CalibIm3 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- CalibIm4 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- CalibIm5 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- CalibImageStack - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- calibrate() - Method in class imagingbook.calibration.zhang.Calibrator
-
Performs the actual camera calibration based on the provided sequence of views.
- Calibration_Plugins_1 - package Calibration_Plugins_1
-
Basic ImageJ calibration plugins.
- Calibration_Plugins_2 - package Calibration_Plugins_2
-
Additional ImageJ calibration plugins.
- CalibrationImage - Enum in imagingbook.calibration.zhang.data
- CalibrationResultZhangWithDistortion_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- Calibrator - Class in imagingbook.calibration.zhang
-
This is an implementation of the camera calibration method described in Z.
- Calibrator(Calibrator.Parameters, Pnt2d[]) - Constructor for class imagingbook.calibration.zhang.Calibrator
-
The only constructor.
- Calibrator.Parameters - Class in imagingbook.calibration.zhang
-
Inner class representing a set of parameters for instantiating new objects of type of
Calibrator
. - Camera - Class in imagingbook.calibration.zhang
-
A camera model with parameters as specified in Zhang's paper.
- Camera(double[]) - Constructor for class imagingbook.calibration.zhang.Camera
-
Creates a standard camera from a vector of intrinsic parameters
- Camera(double, double, double) - Constructor for class imagingbook.calibration.zhang.Camera
-
Creates a simple pinhole camera (with no distortion whatsoever).
- Camera(double, double, double, double, double, double, double) - Constructor for class imagingbook.calibration.zhang.Camera
- Camera(RealMatrix, double[]) - Constructor for class imagingbook.calibration.zhang.Camera
-
Creates a standard camera from a transformation matrix and a vector of lens distortion coefficients.
- CameraIntrinsicsEstimator - Class in imagingbook.calibration.zhang
-
This class defines methods for estimating the intrinsic camera parameters from multiple homographies.
- CameraIntrinsicsEstimator() - Constructor for class imagingbook.calibration.zhang.CameraIntrinsicsEstimator
- crossProduct3x3(RealVector, RealVector) - Static method in class imagingbook.calibration.zhang.util.MathUtil
D
- D(double) - Method in class imagingbook.calibration.zhang.Camera
-
Radial distortion function, to be applied in the form
- Data1_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- Data2_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- Data3_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- Data4_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- Data5_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
- debug - Variable in class imagingbook.calibration.zhang.Calibrator.Parameters
-
Turn on debugging output.
- DefaultOrthogonalityThreshold - Static variable in class imagingbook.calibration.zhang.util.Rotations
- Do_Calibration - Class in Calibration_Plugins_1
-
This plugin performs Zhang's camera calibration on the pre-calculated corner point data for the M given target views.
- Do_Calibration() - Constructor for class Calibration_Plugins_1.Do_Calibration
- Draw_3D_Axes_Demo - Class in Calibration_Plugins_2
-
This plugin draws the projected X/Y/Z coordinate axes for each of the given camera views.
- Draw_3D_Axes_Demo() - Constructor for class Calibration_Plugins_2.Draw_3D_Axes_Demo
E
- estimateHomographies(Pnt2d[], Pnt2d[][]) - Method in class imagingbook.calibration.zhang.HomographyEstimator
-
Estimates the homographies between a fixed set of 2D model points and multiple observations (image point sets).
- estimateHomography(Pnt2d[], Pnt2d[]) - Method in class imagingbook.calibration.zhang.HomographyEstimator
-
Estimates the homography (projective) transformation from two given 2D point sets.
- estimateLensDistortion(Camera, ViewTransform[], Pnt2d[], Pnt2d[][]) - Method in class imagingbook.calibration.zhang.RadialDistortionEstimator
-
Estimates the lens distortion from multiple views, starting from an initial (linear) camera model.
- extractViewNumber(String) - Static method in class imagingbook.calibration.zhang.data.ZhangData
- ExtrinsicViewEstimator - Class in imagingbook.calibration.zhang
-
This class defines methods for estimating the extrinsic camera parameters from multiple homographies.
- ExtrinsicViewEstimator(RealMatrix) - Constructor for class imagingbook.calibration.zhang.ExtrinsicViewEstimator
-
The only constructor.
F
- fromRowPackedVector(RealVector, int, int) - Static method in class imagingbook.calibration.zhang.util.MathUtil
G
- getA() - Method in class imagingbook.calibration.zhang.Camera
-
Returns a copy of the camera's inner transformation matrix with contents
- getAllObservedPoints() - Static method in class imagingbook.calibration.zhang.data.ZhangData
- getAllViewTransforms() - Static method in class imagingbook.calibration.zhang.data.ZhangData
- getAlpha() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's alpha value.
- getBeta() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's beta value.
- getCameraIntrinsics() - Static method in class imagingbook.calibration.zhang.data.ZhangData
- getCameraIntrinsics(RealMatrix[]) - Method in class imagingbook.calibration.zhang.CameraIntrinsicsEstimator
-
Final version by WB (this version is used by default).
- getCameraIntrinsicsZhang1(RealMatrix[]) - Method in class imagingbook.calibration.zhang.CameraIntrinsicsEstimator
-
Version 1 (Zhang's original closed form solution).
- getCameraIntrinsicsZhang2(RealMatrix[]) - Method in class imagingbook.calibration.zhang.CameraIntrinsicsEstimator
-
Version 2 (Zhang's corrected closed form solution).
- getCameraIntrinsicsZhang3(RealMatrix[]) - Method in class imagingbook.calibration.zhang.CameraIntrinsicsEstimator
-
Version 3 (WB's closed form solution).
- getExtrinsics(RealMatrix[]) - Method in class imagingbook.calibration.zhang.ExtrinsicViewEstimator
-
Estimates the extrinsic camera parameters for a sequence of homographies.
- getFileName() - Method in enum imagingbook.calibration.zhang.data.CalibrationImage
- getFileName() - Method in enum imagingbook.calibration.zhang.data.TextDataResource
- getFinalCamera() - Method in class imagingbook.calibration.zhang.Calibrator
-
Returns the final camera model (including lens distortion).
- getFinalViews() - Method in class imagingbook.calibration.zhang.Calibrator
-
Returns the sequence of final camera views (extrinsics, including lens distortion).
- getGamma() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's gamma value.
- getHomography(ViewTransform) - Method in class imagingbook.calibration.zhang.Camera
-
Returns the homography for the given view as a 3 x 3 matrix.
- getInitialCamera() - Method in class imagingbook.calibration.zhang.Calibrator
-
Returns the initial camera model (no lens distortion).
- getInitialViews() - Method in class imagingbook.calibration.zhang.Calibrator
-
Returns the sequence of initial camera views (extrinsics, no lens distortion).
- getInverseA() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the inverse of the camera intrinsic matrix A as a 3x3 matrix (without the last row {0,0,1}).
- getJacobianFunction(Pnt2d[]) - Method in class imagingbook.calibration.zhang.HomographyEstimator
- getK() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's lens distortion coefficients.
- getModelPoints() - Static method in class imagingbook.calibration.zhang.data.ZhangData
- getObservedPoints(int) - Static method in class imagingbook.calibration.zhang.data.ZhangData
- getParameters() - Method in class imagingbook.calibration.zhang.ViewTransform
- getParameterVector() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's inner parameters as a vector (alpha, beta, gamma, uc, vc, k0, k1).
- getProjectionError(Camera, ViewTransform[], Pnt2d[][]) - Method in class imagingbook.calibration.zhang.Calibrator
-
Calculates the squared projection error for a sequence of views, associated with a sequence of observed image point sets.
- getProjectionError(Camera, ViewTransform, Pnt2d[]) - Method in class imagingbook.calibration.zhang.Calibrator
-
Calculates the squared projection error for a single view, associated with a set of observed image points.
- getRotation() - Method in class imagingbook.calibration.zhang.ViewTransform
- getRotationAxis() - Method in class imagingbook.calibration.zhang.ViewTransform
- getRotationMatrix() - Method in class imagingbook.calibration.zhang.ViewTransform
- getRowPackedVector(RealMatrix) - Static method in class imagingbook.calibration.zhang.util.MathUtil
- getTranslation() - Method in class imagingbook.calibration.zhang.ViewTransform
- getTranslationVector() - Method in class imagingbook.calibration.zhang.ViewTransform
- getUc() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's uc value.
- getVc() - Method in class imagingbook.calibration.zhang.Camera
-
Returns the camera's vc value.
- getViewTransform(int) - Static method in class imagingbook.calibration.zhang.data.ZhangData
H
- HomographyEstimator - Class in imagingbook.calibration.zhang
-
This class defines methods for estimating the homography (projective) transformation between pairs of 2D point sets.
- HomographyEstimator() - Constructor for class imagingbook.calibration.zhang.HomographyEstimator
- HomographyEstimator(boolean, boolean) - Constructor for class imagingbook.calibration.zhang.HomographyEstimator
I
- IjUtil - Class in imagingbook.calibration.zhang.util
-
This class defines ImageJ-related utility methods used for camera calibration.
- IjUtil() - Constructor for class imagingbook.calibration.zhang.util.IjUtil
- ImageHeight - Static variable in class imagingbook.calibration.zhang.data.ZhangData
- ImageWidth - Static variable in class imagingbook.calibration.zhang.data.ZhangData
- imagingbook_calibrate_plugins - module imagingbook_calibrate_plugins
- imagingbook.calibrate.lib - module imagingbook.calibrate.lib
- imagingbook.calibration.zhang - package imagingbook.calibration.zhang
-
Core classes of the camera calibration library.
- imagingbook.calibration.zhang.data - package imagingbook.calibration.zhang.data
-
Published test data for Zhang's camera calibration method, provided as Java resources.
- imagingbook.calibration.zhang.util - package imagingbook.calibration.zhang.util
-
Various utility classes used by the calibration library.
- InterCameraMapping - Class in imagingbook.calibration.zhang
-
This class represents the 2D geometric transformation for an image taken with some camera A to an image taken with another camera B.
- InterCameraMapping(Camera, Camera) - Constructor for class imagingbook.calibration.zhang.InterCameraMapping
- inverseConditionNumber(double[][]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Calculates the 'inverse condition number' (RCOND() in Matlab) of the given matrix (0,...,1, ideally close to 1).
- isRotationMatrix(double[][]) - Static method in class imagingbook.calibration.zhang.util.Rotations
-
Checks if the specified matrix is a rotation matrix using the default orthogonality threshold (
Rotations.DefaultOrthogonalityThreshold
). - isRotationMatrix(double[][], double) - Static method in class imagingbook.calibration.zhang.util.Rotations
-
Checks if the specified matrix is a rotation matrix under the given orthogonality threshold.
L
- lensDistortionKoeffients - Variable in class imagingbook.calibration.zhang.Calibrator.Parameters
-
Number of lens distortion coefficients (2 = simple polynomial model).
- Lerp(double[], double[], double) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Linearly interpolate two 3D translation vectors.
- Lerp(Quaternion, Quaternion, double) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Linearly interpolate two
Quaternion
instances. - Lerp(Rotation, Rotation, double) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Linearly interpolate two 3D
Rotation
instances.
M
- makeImage(String, RealMatrix) - Static method in class imagingbook.calibration.zhang.util.IjUtil
-
Creates a float-type image of the supplied matrix.
- mapToSensorPlane(double[]) - Method in class imagingbook.calibration.zhang.Camera
-
Maps from the ideal projection plane to sensor coordinates, using the camera's intrinsic parameters.
- marked1 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- marked2 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- marked3 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- marked4 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- marked5 - Enum constant in enum imagingbook.calibration.zhang.data.CalibrationImage
- MathUtil - Class in imagingbook.calibration.zhang.util
-
Utility math methods used for camera calibration.
- MaxLmEvaluations - Static variable in class imagingbook.calibration.zhang.HomographyEstimator
- MaxLmIterations - Static variable in class imagingbook.calibration.zhang.HomographyEstimator
- mean(double[]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
- Model_txt - Enum constant in enum imagingbook.calibration.zhang.data.TextDataResource
N
- NonlinearOptimizer - Class in imagingbook.calibration.zhang
-
Abstract super-class for non-linear optimizers used for final, overall optimization of calibration parameters.
- NonlinearOptimizerAnalytic - Class in imagingbook.calibration.zhang
- NonlinearOptimizerNumeric - Class in imagingbook.calibration.zhang
-
Nonlinear optimizer based on the Levenberg-Marquart method, where the Jacobian matrix is calculated numerically (i.e., by estimating the first partial derivatives from finite differences).
- normalizeAngle(double) - Static method in class imagingbook.calibration.zhang.util.Rotations
-
Normalized the given angle to [-π,π].
- normalizePointCoordinates - Variable in class imagingbook.calibration.zhang.Calibrator.Parameters
-
Normalize point coordinates for numerical stability in
HomographyEstimator
. - NumberOfViews - Static variable in class imagingbook.calibration.zhang.data.ZhangData
O
- Open_Image_Stack - Class in Calibration_Plugins_1
-
Opens Zhang's standard calibration images as a stack of RGB images.
- Open_Image_Stack() - Constructor for class Calibration_Plugins_1.Open_Image_Stack
P
- Parameters() - Constructor for class imagingbook.calibration.zhang.Calibrator.Parameters
- plotLensDistortionFunction(Camera, double) - Static method in class imagingbook.calibration.zhang.util.IjUtil
- project(ViewTransform, double[]) - Method in class imagingbook.calibration.zhang.Camera
-
Projects the given 3D point onto the sensor plane of this camera for the provided extrinsic view parameters.
- project(ViewTransform, Pnt2d) - Method in class imagingbook.calibration.zhang.Camera
-
Projects the X/Y world point (in the Z = 0 plane) to image coordinates under the given camera view (extrinsic transformation parameters).
- project(ViewTransform, Pnt2d[]) - Method in class imagingbook.calibration.zhang.Camera
-
Projects the X/Y world points (all in the Z = 0 plane) to image coordinates under the given camera view (extrinsic transformation parameters).
- projectNormalized(ViewTransform, double[]) - Method in class imagingbook.calibration.zhang.Camera
-
Projects the given 3D point to ideal projection coordinates for the provided extrinsic view parameters.
- projectNormalized(ViewTransform, Pnt2d) - Method in class imagingbook.calibration.zhang.Camera
-
Projects the given 3D point to ideal projection coordinates for the provided extrinsic view parameters.
R
- RadialDistortionEstimator - Class in imagingbook.calibration.zhang
-
This class defines methods for estimating the radial lens distortion parameters
- RadialDistortionEstimator() - Constructor for class imagingbook.calibration.zhang.RadialDistortionEstimator
- RectificationMapping - Class in imagingbook.calibration.zhang
-
This class represents a special geometric mapping for rectifying (i.e., removing the lens distortion from) an image, given the associated camera parameters.
- RectificationMapping(Camera) - Constructor for class imagingbook.calibration.zhang.RectificationMapping
- Rectify_Camera_Demo - Class in Calibration_Plugins_2
-
This plugin opens an image stack containing the 5 Zhang test images and removes the lens distortion based on the intrinsic camera parameters estimated by calibration.
- Rectify_Camera_Demo() - Constructor for class Calibration_Plugins_2.Rectify_Camera_Demo
- refineHomography(RealMatrix, Pnt2d[], Pnt2d[]) - Method in class imagingbook.calibration.zhang.HomographyEstimator
-
Refines the initial homography by non-linear (Levenberg-Marquart) optimization.
- Replace_Camera_Demo - Class in Calibration_Plugins_2
-
This plugin opens an image stack containing the 5 Zhang test images (assumed to be taken with camera A) and re-renders the images by mapping them to a new camera B.
- Replace_Camera_Demo() - Constructor for class Calibration_Plugins_2.Replace_Camera_Demo
- Rotations - Class in imagingbook.calibration.zhang.util
-
This class defines methods for converting between Rodrigues rotation vectors and 3D rotation matrices, plus some related utility methods.
- Rotations() - Constructor for class imagingbook.calibration.zhang.util.Rotations
- run(String) - Method in class Calibration_Plugins_1.Do_Calibration
- run(String) - Method in class Calibration_Plugins_1.Open_Image_Stack
- run(String) - Method in class Calibration_Plugins_1.Validate_EasyCalib_Data
- run(String) - Method in class Calibration_Plugins_2.Draw_3D_Axes_Demo
- run(String) - Method in class Calibration_Plugins_2.Rectify_Camera_Demo
- run(String) - Method in class Calibration_Plugins_2.Replace_Camera_Demo
- run(String) - Method in class Calibration_Plugins_2.View_Interpolation_Demo
S
- solveHomogeneousSystem(RealMatrix) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Finds a nontrivial solution (x) to the homogeneous linear system A .
T
- TextDataResource - Enum in imagingbook.calibration.zhang.data
- toArray(Pnt2d) - Static method in class imagingbook.calibration.zhang.util.MathUtil
- toCartesian(double[]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Converts a homogeneous vector to its equivalent Cartesian vector, which is one element shorter.
- toHomogeneous(double[]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Converts a Cartesian vector to an equivalent homogeneous vector by attaching an additional 1-element.
- toPnt2d(double[]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
- toQuaternion(Rotation) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Converts a
Rotation
to aQuaternion
. - toRodriguesVector(double[][]) - Static method in class imagingbook.calibration.zhang.util.Rotations
-
Converts a 3D rotation matrix (R) to the equivalent Rodrigues rotation vector.
- toRotation(Quaternion) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Converts a
Quaternion
to aRotation
. - toRotationMatrix(double[]) - Static method in class imagingbook.calibration.zhang.util.Rotations
-
Converts a given Rodrigues rotation vector to the equivalent 3D rotation matrix.
- toString() - Method in class imagingbook.calibration.zhang.Camera
- toString() - Method in class imagingbook.calibration.zhang.ViewTransform
U
- unwarp(double) - Method in class imagingbook.calibration.zhang.Camera
-
Inverse radial distortion function.
- unwarp(double[]) - Method in class imagingbook.calibration.zhang.Camera
-
Applies inverse radial distortion to a given point in the ideal image plane.
- useNumericJacobian - Variable in class imagingbook.calibration.zhang.Calibrator.Parameters
-
Use numeric (instead of analytic) calculation of the Jacobian in
NonlinearOptimizer
.
V
- Validate_EasyCalib_Data - Class in Calibration_Plugins_1
-
This plugin projects opens an image stack containing the 5 Zhang test images, then outlines the positions of the observed image points and finally projects the points of the calibration model using the calculated intrinsic camera parameters (same for all views) and the extrinsic parameters calculated for each view.
- Validate_EasyCalib_Data() - Constructor for class Calibration_Plugins_1.Validate_EasyCalib_Data
- valueOf(String) - Static method in enum imagingbook.calibration.zhang.data.CalibrationImage
-
Returns the enum constant of this type with the specified name.
- valueOf(String) - Static method in enum imagingbook.calibration.zhang.data.TextDataResource
-
Returns the enum constant of this type with the specified name.
- values() - Static method in enum imagingbook.calibration.zhang.data.CalibrationImage
-
Returns an array containing the constants of this enum type, in the order they are declared.
- values() - Static method in enum imagingbook.calibration.zhang.data.TextDataResource
-
Returns an array containing the constants of this enum type, in the order they are declared.
- variance(double[]) - Static method in class imagingbook.calibration.zhang.util.MathUtil
-
Returns the variance of the specified values.
- View_Interpolation_Demo - Class in Calibration_Plugins_2
-
This plugin performs interpolation of views, given a sequence of key views.
- View_Interpolation_Demo() - Constructor for class Calibration_Plugins_2.View_Interpolation_Demo
- ViewTransform - Class in imagingbook.calibration.zhang
-
Instances of this class represent extrinsic camera (view) parameters.
- ViewTransform() - Constructor for class imagingbook.calibration.zhang.ViewTransform
- ViewTransform(double[]) - Constructor for class imagingbook.calibration.zhang.ViewTransform
- ViewTransform(double, double, double, double, double, double) - Constructor for class imagingbook.calibration.zhang.ViewTransform
- ViewTransform(Rotation, double[]) - Constructor for class imagingbook.calibration.zhang.ViewTransform
- ViewTransform(RealMatrix) - Constructor for class imagingbook.calibration.zhang.ViewTransform
- ViewTransform(RealMatrix, RealVector) - Constructor for class imagingbook.calibration.zhang.ViewTransform
W
- warp(double) - Method in class imagingbook.calibration.zhang.Camera
- warp(double[]) - Method in class imagingbook.calibration.zhang.Camera
-
Applies radial distortion to a point in the ideal 2D projection.
Z
- ZhangData - Class in imagingbook.calibration.zhang.data
-
Supplies all numeric data for Zhang's demo calibration test suite.
- ZhangData() - Constructor for class imagingbook.calibration.zhang.data.ZhangData
All Classes and Interfaces|All Packages|Constant Field Values