change_radial_distortion_imageT_change_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image (算子)

名称

change_radial_distortion_imageT_change_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image — 更改图像的径向畸变。

签名

描述

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。

注意

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.

执行信息

• 支持 OpenCL 计算设备。
• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 在通道级别上自动并行化。

参数

结果

change_radial_distortion_imagechange_radial_distortion_imageChangeRadialDistortionImageChangeRadialDistortionImageChangeRadialDistortionImagechange_radial_distortion_image 在所有参数值正确时返回 2 ( H_MSG_TRUE )。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>)。如有必要，则抛出异常。

可能的前趋

change_radial_distortion_cam_parchange_radial_distortion_cam_parChangeRadialDistortionCamParChangeRadialDistortionCamParChangeRadialDistortionCamParchange_radial_distortion_cam_par, read_imageread_imageReadImageReadImageReadImageread_image, grab_imagegrab_imageGrabImageGrabImageGrabImagegrab_image

可能的后继

edges_imageedges_imageEdgesImageEdgesImageEdgesImageedges_image, thresholdthresholdThresholdThresholdThresholdthreshold

另见

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

模块

标定