public void setIntrinsic ( CameraPinholeBrown intrinsic ) { planeProjection . setIntrinsic ( intrinsic ) ; normToPixel = LensDistortionFactory . narrow ( intrinsic ) . distort_F64 ( false , true ) ; pixelToNorm = LensDistortionFactory . narrow ( intrinsic ) . undistort_F64 ( true , false ) ; // Find the change in angle caused by a pixel error in the image center. The same angle error will induce a // larger change in pixel values towards the outside of the image edge. For fish-eyes lenses this could // become significant. Not sure what a better way to handle it would be thresholdFarAngleError = Math . atan2 ( thresholdPixelError , intrinsic . fx ) ; }
Camera the camera s intrinsic parameters . Can be called at any time .