change_radial_distortion_cam

change_radial_distortion_cam_par ( : : Mode, CamParIn, Kappa : CamParOut )

Determine new camera parameters in accordance to the specified radial distortion.

change_radial_distortion_cam_par modifies the interior camera parameters in accordance to the specified radial distortion Kappa. Via Mode one of the following modes can be selected:

   'fixed':    Only Kappa is modified, the other
               interior camera parameters remain unchanged. In general, this 
               leads to a change of the visible part of the scene.
            
   'fullsize': The scale factors Sx and Sy and the image center point 
               [Cx,Cy] are modified
               in order to preserve the visible part of the scene. Thus, all
               points visible in the original image are also visible 
               in the modified (rectified) image. In general, this leads to 
               undefined pixels in the modified image.
         
   'adaptive': A trade-off between the other modes: The visible part of the 
               scene is slightly reduced to prevent undefined pixels in the 
               modified image. Similiarly to 'fullsize', the scale factors 
               and the image center point are modified.

In all modes the radial distortion coefficient Kappa in CamParOut is set to Kappa. The transformation of a pixel in the modified image into the image plane using CamParOut results in the same point as the transformation of a pixel in the original image via CamParIn.

Parameters

`Mode` (input_control)	string `->` string
Mode
Default value: 'adaptive'
Suggested values: 'fullsize', 'adaptive', 'fixed'

`CamParIn` (input_control)	real-array `->` real
Interior camera parameters (original).

`Kappa` (input_control)	real `->` real
Desired radial distortion.
Default value: 0.0

`CamParOut` (output_control)	real-array `->` real
Interior camera parameters (modified).

Result

change_radial_distortion_cam_par returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception handling is raised.

Parallelization Information

change_radial_distortion_cam_par is reentrant and processed without parallelization.

Possible Predecessors

camera_calibration, read_cam_par

Possible Successors

change_radial_distortion_image, change_radial_distortion_contours_xld

Module

Camera calibration