#include "lens_distortion.h"

Include dependency graph for lens_distortion.cpp:

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, double max_radius)
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, double max_radius)
void	ami_lens_distortion_zoom_normalization (double x, double y, int Nl, int Np, double a, 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)
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	search_for_best_center (int Nl, int Np, double a, double xx, double yy, int width, int height, double max_radius)
int	read_line_primitives (char filename[300], int Nl, int Np, double x, double *y)
	function to read point line primitives
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
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	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)
Variables
int	n_iterations = 0
int	f_evaluations = 0
double	tol_lambda = 1e-8

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.

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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.

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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.

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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.

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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.

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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.

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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.

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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,
		double	max_radius
	)

Parameters:

y	ORIGINAL COLECCION OF LINES DISTRIBUTION (INPUT)
Nl	NUMBER OF LINES
Np	NUMBER OF POINTS FOR EACH LINE(INPUT)
y0	CENTER OF THE IMAGE (INPUT)
a	Lens Distortion Polynomial model (INPUT-OUTPUT)
Na	Degree of Polynomial model (INPUT)
k	COEFFICIENT OF THE LENS DISTORTION POLYNOM MODEL TO BE UPDATED
alpha	WEIGHT FOR MINIMIZING THE SQUARE OF THE DISTANCE BETWEEN DISTORTED AND UNDISTORTED POINTS
max_radius	MAX RADIUS TO CHECK THE COMPATIBILITY CRITERIUM OF LENS DISTORTION *

Definition at line 1149 of file lens_distortion.cpp.

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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.

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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.

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

Parameters:

a	POLYNOMIAL DEFINING THE LENS DISTORTION MODEL (INPUT-OUTPUT)
Na	DEGREE OF POLYNOMIAL MODEL FOR LENS DISTORTION (INPUT)
k	COEFFICIENT OF THE POLYNOMIAL TO BE UPDATED (INPUT)
pol	4 DEGREE POLYNOM TO MINIMIZE (INPUT)
max_radius	MAX RADIUS TO CHECK THE COMPATIBILITY CRITERIUM OF LENS DISTORTION *

Definition at line 982 of file lens_distortion.cpp.

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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.

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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.

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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.

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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.

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

Parameters:

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

Definition at line 1205 of file lens_distortion.cpp.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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

Returns:: the factor_n value (double)

Author:: Luis Alvarez & Luis Gomez

Parameters:

x	x-Coordinates of points (pixels)
y	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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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

Parameters:

Nl	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.

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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]

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.

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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.

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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.

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Variable Documentation

int f_evaluations = 0

TOTAL NUMBER OF ITERATIONS

Definition at line 42 of file lens_distortion.cpp.

int n_iterations = 0

This is the lens_distortion.cpp program (ANSI C language), associated to the
lens_distortion_estimation.cpp program; and to the publication
An Algebraic Approach to Lens Distortion by Line Rectification,
L. Alvarez, L. Gomez, R. Sendra
Published in JMIV, July 2009
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
   ALGEBRAIC PART

GLOBAL VARIABLES

Definition at line 41 of file lens_distortion.cpp.

double tol_lambda = 1e-8

TOTAL FUNCTION EVALUATIONS

Definition at line 43 of file lens_distortion.cpp.

Functions

Variables

Function Documentation

Variable Documentation