#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <malloc.h>
#include <string.h>
#include <time.h>
#include <vector>
#include "ami_pol.h"
#include "point2d.h"
#include "image.h"

Include dependency graph for lens_distortion.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Defines
#define	PI 3.1415927
#define	ABS(x) (((x)>0)?(x):-(x))
#define	Normalize(x) ((x)<0?0:((x)>255?255:x))
#define	Max(a, b) ((a>b)?a:b)
#define	ami_abs(x) ((x)>0?(x):(-(x)))
#define	ami_calloc2d(address, datatype, height, width)
#define	ami_malloc2d(address, datatype, height, width)
#define	ami_malloc2d_pointers(address, simple_pointer, datatype, height, width)
#define	ami_free2d(address) { free(address[0]); free(address); }
#define	ami_free2d_pointers(address) { free(address); }
#define	ami_malloc1d(address, datatype, size) {address=(datatype ) malloc(sizeof(datatype)(size));}
#define	ami_calloc1d(address, datatype, size)
#define	ami_max_iter 1000
#define	ami_tol 0.0000001
#define	line_length 80 /* LENGTH OF LINE (TO READ A LINE FOR A FILE) */
#define	max_itera 100 /* MAXIMUM NUMBER OF GRADIENT ITERATIONS */
#define	delta 1.0e-10 /* DERIVATIVE STEP (FINITE DIFFERENCES) */
#define	max_itera_lambda 10 /* MAXIMUM NUMBER OF ITERATIONS IN UNIDIMENSIONAL SEARCH */
#define	tol_f 1.0e-6 /* TOLERANCE TO STOP THE GRADIENT ITERATIONS */
#define	tol_norma 1.0e-16 /* NORM OF GRADIENT TO STOP THE GRADIENT ALGORITHM */
#define	patch_size 20
#define	max_itera_patch 20 /* MAXIMUM NUMBER OF SEARCH-OF-DISTORTION-CENTER ITERATIONS */
Functions
int	test_compatibility_lens_distortion_model (double *a, int Na, double max_radius)
	function checks if the lens distortion model is an increasing function in [0,max_radius]
int	ami_line2d_calculation (double line[3], double **Points2D, int N)
	function to compute a line equation by minimizing the distance to a point collection
int	ami_lens_distortion_polynomial_update_distance_2v (double x, double y, int Np, double a, int Na, double x0, double y0, int k1, int k2, double *pol, double alpha)
	function to add the information of a line point sequence to the 4 degree polynomial to compute the lens distortion model
double	ami_lens_distortion_estimation_2v (double x, double y, int Nl, int Np, double x0, double y0, double a, int Na, int k1, int k2, double alpha, double max_radius)
int	ami_lens_distortion_model_update_2v (double a, int Na, int k1, int k2, double *pol, double max_radius)
int	ami_lens_distortion_polynomial_update_2v (double x, double y, int Np, double a, int Na, double x0, double y0, int k1, int k2, double *pol)
void	ami_2v_polynom_derivatives (double p, int N, double p_x, double **p_y)
	function to compute the partial derivatives of a 2 variable polynom. The degree of the derivative polynoms is assumed to be the same that the original one
void	ami_polynom_determinant (double p[6][6][19], int Np, int Nd, double *q)
	function to compute the determinant of a polynom matrix
double	ami_2v_polynom_evaluation (double **p1, int N1, double x, double y)
	function to evaluate a 2 variable polynom in one point
void	ami_2v_polynom_to_1v_polynom (double *p1, int N1, double p3, double z, int flat)
	function to evaluate a 2 variable polynom in one of the variable value. The output is a 1 degree polynom
double *	ami_1v_polynom_multiplication (double p1, int N1, double p2, int N2, double *p3)
	function to multiply polinoms of 1 variable. the result is added to the output polynom COEFFICIENTs
void	ami_2v_polynom_multiplication (double p1, int N1, double p2, int N2, double **p3)
	function to multiply polynoms of 2 variables
int	ami_RootCubicPolynomial (double a, int N, double x)
	function to compute the real roots of a cubic polynomial. It returns the number of roots found sorted by magnitud
double	ami_polynomial_evaluation (double *a, int Na, double x)
	function to evaluate a polynom using the Horner algorithm
int	ami_lens_distortion_polynomial_update (double x, double y, int Np, double a, int Na, double x0, double y0, int k, double pol)
	function to add the information of a line point sequence to the 4 degree polynomial to compute the lens distortion model
int	ami_lens_distortion_model_update (double a, int Na, int k, double pol)
	function to update the lens distortion model by minimizing a 4 degree polynom
double	ami_LensDistortionEnergyError (double x, double y, int Np, double x0, double y0, double *a, int Na)
	function to compute the lens distortion energy error (the residual variance of the point distribution
double	ami_LensDistortionEnergyError_Vmin (double x, double y, int Np, double x0, double y0, double *a, int Na)
	function to compute the lens distortion vmin energy error of the point distribution
double	ami_lens_distortion_estimation (double x, double y, int Nl, int Np, double x0, double y0, double a, int Na, int k, double alpha)
	function to compute the lens distortion model
void	ami_lens_distortion_zoom_normalization (double x, double y, int Nl, int Np, double solution, int Na)
int	calculate_points (double amin, double *points_2D_modified, int N, int Na, double x0, double y0)
	function to estimate the position of 2D points (pixels) for the actual lens distortion model
double	distance_function (double solution, double x, double y, int Nl, int Np, int Na)
double	find_lambda (double lambda1, double lambda2, double lambda3, double f_1, double f_2, double f_3, double amin_copy, double amin, double x, double y, int Nl, int Np, int Na, double grad_f, int *change_k)
double	minimize_cuadratic_polynom (double lambda1, double lambda2, double lambda3, double f_1, double f_2, double f_3, double amin_copy, double amin, double x, double y, int Nl, int Np, int Na, double grad_f, int *change_k)
double	cuadratic_fitting (double amin_copy, double amin, double x, double y, int Nl, int Np, int Na, double lambda1, double lambda2, double lambda3, double f_1, double f_2, double f_3, double grad_f, int *change_k)
double	minimize_lambda (double amin, double x, double y, int Nl, int Np, int Na, double grad_f, double f, int change_k)
double	gradient_method (double solution, double x, double y, int Nl, int Np, int Na, int *change_k, int zoom, int optimize_center)
double	calculate_factor_n (double x, double y, int Nl, int *Np, double x0, double y0)
	function to calculate the factor_n, needed for transforming k (lens distortion model) from normalized coordinates to pixels
int	optimize (double solution, double x, double y, double xx, double yy, int Nl, int Np, int Na, double factor_n, int zoom, FILE *fp1, int optimize_center)
int	algebraic_method_pre_gradient (int Nl, int Np, double a, double x, double y, double xx, double yy, double factor_n, int zoom, FILE *fp1, int optimize_center, double max_radius)
int	trivial_solution (int Nl, int Np, double a, double xx, double yy, double factor_n, FILE fp1, double trivial, int optimize_center)
int	read_line_primitives (char filename[300], int Nl, int Np, double x, double *y)
	function to read point line primitives
int	search_for_best_center (int N, int Np, double a, double xx, double yy, int width, int height, double max_radius)
void	ami_lens_distortion_model_evaluation (double a, int Na, double xc, double yc, double x_input, double y_input, double x_output, double *y_output)
	COMPUTE THE LENS DISTORTION MODEL IN A POINT.
double	ami_inverse_lens_distortion_newton_raphson (double x, double y, double x0, double y0, double xt, double yt, double *a, int Na)
	COMPUTE THE INVERSE OF LENS DISTORTION MODEL IN A POINT USING NEWTON-RAPHSON.
int	ami_inverse_lens_distortion_fast (double x, double y, double x0, double y0, double xt, double yt, double *a, int Na, double dl1r)
int	build_l1r_vector (std::vector< double > &l1r, ami::point2d< double > &dc, double max_distance_corner, int Na, double *a)
ami::image< unsigned char >	undistort_image_inverse_fast (ami::image< unsigned char > input_image, int Na, double *a, ami::point2d< double > dc, const double &image_amplification_factor)

Define Documentation

#define ABS ( x ) (((x)>0)?(x):-(x))

Definition at line 29 of file lens_distortion.h.

#define ami_abs ( x ) ((x)>0?(x):(-(x)))

Definition at line 32 of file lens_distortion.h.

#define ami_calloc1d	(	address,
		datatype,
		size
	)

Value:

{int ml; address=(datatype *) malloc(sizeof(datatype)*(size)); \
          for(ml=0;ml<size;ml++) address[ml]=0;\
        }

Definition at line 52 of file lens_distortion.h.

#define ami_calloc2d	(	address,
		datatype,
		height,
		width
	)

Value:

{int ml,mk; \
          address=(datatype **) malloc(sizeof(datatype *)*(height)); \
          address[0]=(datatype *)malloc(sizeof(datatype)*(width)*(height)); \
          for(ml=0;ml<(height);ml++) address[ml]=&(address[0][ml*(width)]); \
          for(ml=0;ml<height;ml++) for(mk=0;mk<width;mk++) address[ml][mk]=0; \
        }

Definition at line 33 of file lens_distortion.h.

#define ami_free2d ( address ) { free(address[0]); free(address); }

Definition at line 49 of file lens_distortion.h.

#define ami_free2d_pointers ( address ) { free(address); }

Definition at line 50 of file lens_distortion.h.

#define ami_malloc1d	(	address,
		datatype,
		size
	)	{address=(datatype ) malloc(sizeof(datatype)(size));}

Definition at line 51 of file lens_distortion.h.

#define ami_malloc2d	(	address,
		datatype,
		height,
		width
	)

Value:

{int ml; \
          address=(datatype **) malloc(sizeof(datatype *)*(height)); \
          address[0]=(datatype *)malloc(sizeof(datatype)*(width)*(height)); \
          for(ml=0;ml<(height);ml++) address[ml]=&(address[0][ml*(width)]);\
        }

Definition at line 39 of file lens_distortion.h.

#define ami_malloc2d_pointers	(	address,
		simple_pointer,
		datatype,
		height,
		width
	)

Value:

{int ml; \
          address=(datatype **) malloc(sizeof(datatype *)*(height)); \
          address[0]=(datatype *) simple_pointer; \
          for(ml=0;ml<(height);ml++) address[ml]=&(address[0][ml*(width)]);\
        }

Definition at line 44 of file lens_distortion.h.

#define ami_max_iter 1000

BEGIN: ALGEBRAIC CONTROL PARAMETERS

Definition at line 60 of file lens_distortion.h.

#define ami_tol 0.0000001

Definition at line 61 of file lens_distortion.h.

#define delta 1.0e-10 /* DERIVATIVE STEP (FINITE DIFFERENCES) */

Definition at line 75 of file lens_distortion.h.

#define line_length 80 /* LENGTH OF LINE (TO READ A LINE FOR A FILE) */

END: ALGEBRAIC CONTROL PARAMETERS

Definition at line 68 of file lens_distortion.h.

#define Max	(	a,
		b
	)	((a>b)?a:b)

Definition at line 31 of file lens_distortion.h.

#define max_itera 100 /* MAXIMUM NUMBER OF GRADIENT ITERATIONS */

BEGIN: GRADIENT CONTROL PARAMETERS

Definition at line 74 of file lens_distortion.h.

#define max_itera_lambda 10 /* MAXIMUM NUMBER OF ITERATIONS IN UNIDIMENSIONAL SEARCH */

Definition at line 76 of file lens_distortion.h.

#define max_itera_patch 20 /* MAXIMUM NUMBER OF SEARCH-OF-DISTORTION-CENTER ITERATIONS */

Definition at line 88 of file lens_distortion.h.

#define Normalize ( x ) ((x)<0?0:((x)>255?255:x))

Definition at line 30 of file lens_distortion.h.

#define patch_size 20

END: GRADIENT CONTROL PARAMETERS BEGIN: SEARCH-OF-DISTORTION-CENTER PARAMETERS

Definition at line 87 of file lens_distortion.h.

#define PI 3.1415927

Coded by Luis Alvarez and Luis Gomez, AMI Research Group, University of Las Palmas de Gran Canaria, Canary Islands, SPAIN First version: February 2010, Second Version: January 2012 (this is the second version) In this version, we optimize the center of distortion using a search patch pattern strategy

Definition at line 28 of file lens_distortion.h.

#define tol_f 1.0e-6 /* TOLERANCE TO STOP THE GRADIENT ITERATIONS */

Definition at line 77 of file lens_distortion.h.

#define tol_norma 1.0e-16 /* NORM OF GRADIENT TO STOP THE GRADIENT ALGORITHM */

Definition at line 78 of file lens_distortion.h.

Function Documentation

int algebraic_method_pre_gradient	(	int	Nl,
		int *	Np,
		double *	a,
		double **	x,
		double **	y,
		double **	xx,
		double **	yy,
		double	factor_n,
		int	zoom,
		FILE *	fp1,
		int	optimize_center,
		double	max_radius
	)

Parameters:

Nl	Number of lines
Np	Number of points/line
a	Lens distortion model polynom
x	Coordinates of points (normalized)
y	Coordinates of points (normalized)
xx	Coordinates of points
yy	Coordinates of points
factor_n	Factor to normalize coordinates
zoom	Zoom strategy
fp1	Pointer to the output file
optimize_center	To optimize the center of distortion
max_radius	MAXIMUM RADIAL DISTANCE IN PHOTO

Definition at line 1771 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double* ami_1v_polynom_multiplication	(	double *	p1,
		int	N1,
		double *	p2,
		int	N2,
		double *	p3
	)

function to multiply polinoms of 1 variable. the result is added to the output polynom COEFFICIENTs

Author:: Luis Alvarez

Returns:: return the calculation

Parameters:

p1	POLYNOM 1 (INPUT)
N1	DEGREE OF POLYNOM 1 (INPUT)
p2	POLYNOM 2 (INPUT)
N2	DEGREE OF POLYNOM 2 (INPUT)
p3	OUTPUT POLYNOM (INPUT-OUTPUT)

Definition at line 744 of file lens_distortion.cpp.

Here is the caller graph for this function:

void ami_2v_polynom_derivatives	(	double **	p,
		int	N,
		double **	p_x,
		double **	p_y
	)

function to compute the partial derivatives of a 2 variable polynom. The degree of the derivative polynoms is assumed to be the same that the original one

Author:: Luis Alvarez

Returns:: return void

Parameters:

p	ORIGINAL POLYNOM (INPUT)
N	DEGREE OF THE ORIGINAL POLYNOM (INPUT)
p_x	DERIVATIVE OF THE POLYNOM WITH RESPECT TO THE FIRST VARIABLE (OUTPUT)
p_y	DERIVATIVE OF THE POLYNOM WITH RESPECT TO THE SECOND VARIABLE(OUTPUT)

Definition at line 600 of file lens_distortion.cpp.

Here is the caller graph for this function:

double ami_2v_polynom_evaluation	(	double **	p1,
		int	N1,
		double	x,
		double	y
	)

function to evaluate a 2 variable polynom in one point

Author:: Luis Alvarez

Returns:: return the evaluation

Parameters:

p1	2 VARIABLE POLYNOM (INPUT)
N1	DEGREE OF POLYNOM 1 (INPUT)
y	POINT COORDINATE WHERE THE POLYNOM WILL BE EVALUATED (INPUT)

Definition at line 676 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void ami_2v_polynom_multiplication	(	double **	p1,
		int	N1,
		double **	p2,
		int	N2,
		double **	p3
	)

function to multiply polynoms of 2 variables

Author:: Luis Alvarez

Returns:: return void

Parameters:

p1	POLYNOM 1 (INPUT)
N1	DEGREE OF POLYNOM 1 (INPUT)
p2	POLYNOM 2 (INPUT)
N2	DEGREE OF POLYNOM 2 (INPUT)
p3	OUTPUT POLYNOM (INPUT - OUTPUT)

Definition at line 771 of file lens_distortion.cpp.

Here is the caller graph for this function:

void ami_2v_polynom_to_1v_polynom	(	double **	p1,
		int	N1,
		double *	p3,
		double	z,
		int	flat
	)

function to evaluate a 2 variable polynom in one of the variable value. The output is a 1 degree polynom

VARIABLE WHERE THE POLYNOM IS GOING TO BE EVALUATED

Author:: Luis Alvarez

Returns:: return void

Parameters:

p1	2 VARIABLE POLYNOM (INPUT)
N1	DEGREE OF POLYNOM 1 (INPUT)
p3	OUTPUT 1 VARIABLE POLYNOM (OUTPUT)
z	POINT WHERE THE 2 VARIABLE POLYNOM IS GOING TO BE EVALUATED

Definition at line 708 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int ami_inverse_lens_distortion_fast	(	double	x,
		double	y,
		double	x0,
		double	y0,
		double *	xt,
		double *	yt,
		double *	a,
		int	Na,
		double	dl1r
	)

double ami_inverse_lens_distortion_newton_raphson	(	double	x,
		double	y,
		double	x0,
		double	y0,
		double *	xt,
		double *	yt,
		double *	a,
		int	Na
	)

COMPUTE THE INVERSE OF LENS DISTORTION MODEL IN A POINT USING NEWTON-RAPHSON.

Parameters:

[in]	x,y	POINT TO INVERSE (INPUT)
[in]	x0,y0	LENS DISTORTION MODEL CENTER (INPUT)
[out]	xt,yt	UNDISTORTED POINT (INVERSE POINT TRANSFORMED) (OUTPUT)
[in]	*a	LENS DISTORTION MODEL COEFFICIENTS
[in]	Na	DEGREE OF THE LENS DISTORTION MODEL POLYNOM

Author:: Luis Alvarez

Definition at line 2182 of file lens_distortion.cpp.

Here is the call graph for this function:

double ami_lens_distortion_estimation	(	double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		double	x0,
		double	y0,
		double *	a,
		int	Na,
		int	k,
		double	alpha
	)

function to compute the lens distortion model

Author:: Luis Alvarez

Returns:: return (Error/Nl)

double ami_lens_distortion_estimation_2v	(	double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		double	x0,
		double	y0,
		double *	a,
		int	Na,
		int	k1,
		int	k2,
		double	alpha,
		double	max_radius
	)

Parameters:

y	DISTORTED LINE COORDINATES (INPUT)
Nl	NUMBER OF LINES (RECTS)
Np	NUMBER OF POINTS (INPUT)
y0	COORDINATES OF THE IMAGE CENTER
a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION
k1	COEFFICIENT 1 OF THE POLYNOMIAL TO BE UPDATED
k2	COEFFICIENT 2 OF THE POLYNOMIAL TO BE UPDATED
alpha	WEIGHT OF THE DISTANCE IN THE POLYNOM ENERGY
max_radius	MAXIMUM RADIAL DISTANCE IN PHOTO

Definition at line 289 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void ami_lens_distortion_model_evaluation	(	double *	a,
		int	Na,
		double	xc,
		double	yc,
		double	x_input,
		double	y_input,
		double *	x_output,
		double *	y_output
	)

COMPUTE THE LENS DISTORTION MODEL IN A POINT.

Precondition:: Any parameter can be null.; Na has to be positive.

Parameters:

[in]	a	INPUT POLYNOMIAL DISTORTION MODEL
[in]	Na	INPUT DEGREE OF POLYNOMIAL DISTORTION MODEL
[in]	xc,yc	INPUT CENTER OF DISTORTION
[in]	x_input,y_input	INPUT POINT
[out]	x_output,y_output	OUTPUT UNDISTORTED POINT

Author:: Luis Alvarez

Definition at line 2156 of file lens_distortion.cpp.

Here is the call graph for this function:

int ami_lens_distortion_model_update	(	double *	a,
		int	Na,
		int	k,
		double *	pol
	)

function to update the lens distortion model by minimizing a 4 degree polynom

Author:: Luis Alvarez

Returns:: return 0 if the function finishes properly

int ami_lens_distortion_model_update_2v	(	double *	a,
		int	Na,
		int	k1,
		int	k2,
		double **	pol,
		double	max_radius
	)

Parameters:

a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT-OUTPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION (INPUT)
k1	COEFFICIENT 1 OF THE POLYNOMIAL TO BE UPDATED (INPUT)
k2	COEFFICIENT 2 OF THE POLYNOMIAL TO BE UPDATED (INPUT)
pol	4 DEGREE POLYNOM TO MINIMIZE (INPUT)
max_radius	MAXIMUM RADIAL DISTANCE IN PHOTO

Definition at line 346 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int ami_lens_distortion_polynomial_update	(	double *	x,
		double *	y,
		int	Np,
		double *	a,
		int	Na,
		double	x0,
		double	y0,
		int	k,
		double *	pol
	)

function to add the information of a line point sequence to the 4 degree polynomial to compute the lens distortion model

Author:: Luis Alvarez

Returns:: return 0 if the function finishes properly

Parameters:

y	DISTORTED LINE COORDINATES (INPUT)
Np	NUMBER OF POINTS (INPUT)
a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION
y0	COORDINATES OF THE IMAGE CENTER
k	COEFFICIENT OF THE POLYNOMIAL TO BE UPDATED
pol	4 DEGREE POLYNOM TO MINIMIZE (INPUT-OUTPUT)

Definition at line 881 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int ami_lens_distortion_polynomial_update_2v	(	double *	x,
		double *	y,
		int	Np,
		double *	a,
		int	Na,
		double	x0,
		double	y0,
		int	k1,
		int	k2,
		double **	pol
	)

Parameters:

y	DISTORTED LINE COORDINATES (INPUT)
Np	NUMBER OF POINTS (INPUT)
a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION
y0	COORDINATES OF THE IMAGE CENTER
k1	COEFFICIENT 1 OF THE POLYNOMIAL TO BE UPDATED
k2	COEFFICIENT 2 OF THE POLYNOMIAL TO BE UPDATED
pol	4 DEGREE 2 VARIABLE POLYNOM TO MINIMIZE (INPUT-OUTPUT)

Definition at line 474 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int ami_lens_distortion_polynomial_update_distance_2v	(	double *	x,
		double *	y,
		int	Np,
		double *	a,
		int	Na,
		double	x0,
		double	y0,
		int	k1,
		int	k2,
		double **	pol,
		double	alpha
	)

function to add the information of a line point sequence to the 4 degree polynomial to compute the lens distortion model

WEIGHT OF THE DISTANCE IN THE POLYNOM ENERGY

Author:: Luis Alvarez

Returns:: return 0 if function finishes properly

Parameters:

y	DISTORTED LINE COORDINATES (INPUT)
Np	NUMBER OF POINTS (INPUT)
a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION
y0	COORDINATES OF THE IMAGE CENTER
k1	COEFFICIENT 1 OF THE POLYNOMIAL TO BE UPDATED
k2	COEFFICIENT 2 OF THE POLYNOMIAL TO BE UPDATED
pol	4 DEGREE 2 VARIABLE POLYNOM TO MINIMIZE (INPUT-OUTPUT)

Definition at line 203 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void ami_lens_distortion_zoom_normalization	(	double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		double *	solution,
		int	Na
	)

Parameters:

	y	ORIGINAL COLECCION OF LINES DISTRIBUTION (INPUT)
	Nl	NUMBER OF LINES
	Np	NUMBER OF POINTS FOR EACH LINE(INPUT)
[in,out]	solution
	Na	Degree of Polynomial model (INPUT)

Definition at line 1205 of file lens_distortion.cpp.

Here is the caller graph for this function:

double ami_LensDistortionEnergyError	(	double *	x,
		double *	y,
		int	Np,
		double	x0,
		double	y0,
		double *	a,
		int	Na
	)

function to compute the lens distortion energy error (the residual variance of the point distribution

Author:: Luis Alvarez

Returns:: return the evaluation

Parameters:

y	ORIGINAL POINT DISTRIBUTION (INPUT)
Np	NUMBER OF POINTS (INPUT)
y0	CENTER OF THE IMAGE (INPUT)
a	Lens Distortion Polynomial model (INPUT)
Na	Degree of Polynomial model (INPUT)

Definition at line 1038 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double ami_LensDistortionEnergyError_Vmin	(	double *	x,
		double *	y,
		int	Np,
		double	x0,
		double	y0,
		double *	a,
		int	Na
	)

function to compute the lens distortion vmin energy error of the point distribution

Author:: Luis Alvarez

Returns:: return the evaluation

Parameters:

y	ORIGINAL POINT DISTRIBUTION (INPUT)
Np	NUMBER OF POINTS (INPUT)
y0	CENTER OF THE IMAGE (INPUT)
a	Lens Distortion Polynomial model (INPUT)
Na	Degree of Polynomial model (INPUT)

Definition at line 1093 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int ami_line2d_calculation	(	double	line[3],
		double **	Points2D,
		int	N
	)

function to compute a line equation by minimizing the distance to a point collection

Author:: Luis Alvarez and Luis Gomez

Returns:: return 0 if function finishes properly and !0 otherwise

Parameters:

line	line coefficients (ax+by+c=0)
Points2D	set of 2D points
N	number of points

Definition at line 79 of file lens_distortion.cpp.

Here is the caller graph for this function:

void ami_polynom_determinant	(	double	p[6][6][19],
		int	Np,
		int	Nd,
		double *	q
	)

function to compute the determinant of a polynom matrix

Author:: Luis Alvarez

Returns:: return void

Definition at line 630 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double ami_polynomial_evaluation	(	double *	a,
		int	Na,
		double	x
	)

function to evaluate a polynom using the Horner algorithm

Author:: Luis Alvarez

Returns:: return the evaluation

Parameters:

a	POLYNOM COEFFICIENT
Na	POLYNOM DEGREE
x	POINT WHERE THE POLYNOM IS EVALUATED

Definition at line 860 of file lens_distortion.cpp.

Here is the caller graph for this function:

int ami_RootCubicPolynomial	(	double *	a,
		int	N,
		double *	x
	)

function to compute the real roots of a cubic polynomial. It returns the number of roots found sorted by magnitud

Author:: Luis Alvarez

Returns:: return 3 if the function finishes properly

Parameters:

a	POLYNOMIAL COEFFICIENTS a[0]+a[1]x+a[2]x^2 +...
N	DEGREE OF POLYNOMIAL (IT HAS TO BE 3)
x	POLYNOMIAL ROOTS

Definition at line 799 of file lens_distortion.cpp.

Here is the caller graph for this function:

int build_l1r_vector	(	std::vector< double > &	l1r,
		ami::point2d< double > &	dc,
		double	max_distance_corner,
		int	Na,
		double *	a
	)

Definition at line 2243 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double calculate_factor_n	(	double **	xx,
		double **	yy,
		int	Nl,
		int *	Np,
		double	x0,
		double	y0
	)

function to calculate the factor_n, needed for transforming k (lens distortion model) from normalized coordinates to pixels

Returns:: the factor_n value (double)

Author:: Luis Alvarez & Luis Gomez

Parameters:

xx	x-Coordinates of points (pixels)
yy	y-Coordinates of points (pixels)
Nl	Number of lines
Np	Number of points/line
x0	x center of the image (pixels)
y0	y center of the image (pixels)

Definition at line 2093 of file lens_distortion.cpp.

Here is the caller graph for this function:

int calculate_points	(	double *	amin,
		double **	points_2D_modified,
		int	N,
		int	Na,
		double	x0,
		double	y0
	)

function to estimate the position of 2D points (pixels) for the actual lens distortion model

   GRADIENT PART

Author:: Luis Alvarez and Luis Gomez

Returns:: return 0 if the function finishes properly

Parameters:

amin	Lens distortion model polynom
points_2D_modified	Cloud of points to be fitted to a line
N	Number of points
Na	Degree of the lens distortion model
x0	x center of the image
y0	y center of the image

Definition at line 1246 of file lens_distortion.cpp.

Here is the caller graph for this function:

double cuadratic_fitting	(	double *	amin_copy,
		double *	amin,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na,
		double	lambda1,
		double	lambda2,
		double	lambda3,
		double	f_1,
		double	f_2,
		double	f_3,
		double *	grad_f,
		int *	change_k
	)

Parameters:

amin_copy	Copy of amin
amin	Lens distortion model polynom
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
lambda1	First TTP point
lambda2	Second TTP point
lambda3	Third TTP point
f_1	f_objective(lambda1)
f_2	f_objective(lambda2)
f_3	f_objective(lambda3)
grad_f	Gradient vector at amin
change_k	to indicate what variable optimize (1: optimize, 0: no optimize)

Definition at line 1447 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double distance_function	(	double *	solution,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na
	)

Parameters:

solution	[Lens distortion model polynom;x0,y0]
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model

Definition at line 1278 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double find_lambda	(	double	lambda1,
		double	lambda2,
		double	lambda3,
		double	f_1,
		double	f_2,
		double	f_3,
		double *	amin_copy,
		double *	amin,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na,
		double *	grad_f,
		int *	change_k
	)

Parameters:

lambda1	First TTP point
lambda2	Second TTP point
lambda3	Third TTP point
f_1	f_objective(lambda1)
f_2	f_objective(lambda2)
f_3	f_objective(lambda3)
amin_copy	Copy of amin
amin	Lens distortion model polynom
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
grad_f	Gradient vector at amin
change_k	To indicate what variable optimize (1: optimize, 0: no optimize)

Definition at line 1338 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double gradient_method	(	double *	solution,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na,
		int *	change_k,
		int	zoom,
		int	optimize_center
	)

ZOOM UPDATE amin[0]

Parameters:

solution	[Lens distortion model polynom;x0,y0]
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
change_k	to indicate what variable optimize (1: optimize, 0: no optimize)
zoom	Zoom strategy
optimize_center	To optimize the center of distortion

Definition at line 1601 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double minimize_cuadratic_polynom	(	double	lambda1,
		double	lambda2,
		double	lambda3,
		double	f_1,
		double	f_2,
		double	f_3,
		double *	amin_copy,
		double *	amin,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na,
		double *	grad_f,
		int *	change_k
	)

Parameters:

lambda1	First TTP point
lambda2	Second TTP point
lambda3	Third TTP point
f_1	f_objective(lambda1)
f_2	f_objective(lambda2)
f_3	f_objective(lambda3)
amin_copy	Copy of amin
amin	Lens distortion model polynom
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
grad_f	Gradient vector at amin
change_k	To indicate what variable optimize (1: optimize, 0: no optimize)

Definition at line 1396 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

double minimize_lambda	(	double *	amin,
		double **	x,
		double **	y,
		int	Nl,
		int *	Np,
		int	Na,
		double *	grad_f,
		double	f,
		int *	change_k
	)

Parameters:

amin	[Lens distortion model polynom;x0,y0]
x	Coordinates of points
y	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
grad_f	Gradient vector at amin
f	function value at amin
change_k	To indicate what variable optimize (1: optimize, 0: no optimize)

Definition at line 1520 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int optimize	(	double *	solution,
		double **	x,
		double **	y,
		double **	xx,
		double **	yy,
		int	Nl,
		int *	Np,
		int	Na,
		double	factor_n,
		int	zoom,
		FILE *	fp1,
		int	optimize_center
	)

Parameters:

solution	[Lens distortion model polynom; x0,y0]
x	Coordinates of points (normalized)
y	Coordinates of points (normalized)
xx	Coordinates of points
yy	Coordinates of points
Nl	Number of lines
Np	Number of points/line
Na	Degree of the lens distortion model polynomial
factor_n	Factor to normalize coordinates
zoom	Zoom strategy
fp1	Pointer to the output file
optimize_center	To optimize the center of distortion

Definition at line 1660 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int read_line_primitives	(	char	filename[300],
		int *	Nl,
		int **	Np,
		double ***	x,
		double ***	y
	)

function to read point line primitives

Author:: Luis Alvarez

Parameters:

filename	INPUT FILE NAME
Nl	OUTPUT NUMBER OF LINES
Np	OUTPUT NUMBER OF POINTS FOR EACH LINE
x	OUTPUT POINT X COORDINATES
y	OUTPUT POINT X COORDINATES

Definition at line 2044 of file lens_distortion.cpp.

Here is the caller graph for this function:

int search_for_best_center	(	int	N,
		int *	Np,
		double *	a,
		double **	xx,
		double **	yy,
		int	width,
		int	height,
		double	max_radius
	)

Parameters:

N	Number of lines
Np	Number of points/line
a	Lens distortion model polynom
xx	Coordinates of points (pixels)
yy	Coordinates of points (pixels)
width	Image size: width (pixels)
height	Image size: height (pixels)
max_radius	MAXIMUM RADIAL DISTANCE IN PHOTO

Definition at line 1934 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int test_compatibility_lens_distortion_model	(	double *	a,
		int	Na,
		double	max_radius
	)

function checks if the lens distortion model is an increasing function in [0,max_radius]

END: SEARCH-OF-DISTORTION-CENTER PARAMETERS

TOLERANCE FOR THE LAMBDA SEARCHING

Author:: Luis Alvarez

Returns:: return 0 if the test is satisfied

Definition at line 52 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

int trivial_solution	(	int	Nl,
		int *	Np,
		double *	a,
		double **	xx,
		double **	yy,
		double	factor_n,
		FILE *	fp1,
		double *	trivial,
		int	optimize_center
	)

Parameters:

Nl	Number of lines
Np	Number of points/line
a	Lens distortion model polynom
xx	Coordinates of points
yy	Coordinates of points
factor_n	Factor to normalize coordinates
fp1	Pointer to the output file
trivial	Trivial Emin,Vmin,Dmin values
optimize_center	To optimize the center of distortion

Definition at line 1852 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

ami::image<unsigned char> undistort_image_inverse_fast	(	ami::image< unsigned char >	input_image,
		int	Na,
		double *	a,
		ami::point2d< double >	dc,
		const double &	image_amplification_factor
	)

Definition at line 2299 of file lens_distortion.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Defines

Functions

Define Documentation

Function Documentation