Examples with PointToPixelTransform_F32 boofcv.alg.distort.PointToPixelTransform_F32 used on opensource projects

Example 1 with PointToPixelTransform_F32

use of boofcv.alg.distort.PointToPixelTransform_F32 in project BoofCV by lessthanoptimal.

the class RectifyImageOps method rectifyImage.

/**
 * Creates an {@link ImageDistort} for rectifying an image given its rectification matrix.
 * Lens distortion is assumed to have been previously removed.
 *
 * @param rectify Transform for rectifying the image.
 * @param imageType Type of single band image the transform is to be applied to.
 * @return ImageDistort for rectifying the image.
 */
public static <T extends ImageGray<T>> ImageDistort<T, T> rectifyImage(FMatrixRMaj rectify, BorderType borderType, Class<T> imageType) {
    boolean skip = borderType == BorderType.SKIP;
    if (skip) {
        borderType = BorderType.EXTENDED;
    }
    InterpolatePixelS<T> interp = FactoryInterpolation.bilinearPixelS(imageType, borderType);
    FMatrixRMaj rectifyInv = new FMatrixRMaj(3, 3);
    CommonOps_FDRM.invert(rectify, rectifyInv);
    PointTransformHomography_F32 rectifyTran = new PointTransformHomography_F32(rectifyInv);
    // don't bother caching the results since it is likely to only be applied once and is cheap to compute
    ImageDistort<T, T> ret = FactoryDistort.distortSB(false, interp, imageType);
    ret.setRenderAll(!skip);
    ret.setModel(new PointToPixelTransform_F32(rectifyTran));
    return ret;
}

Example 2 with PointToPixelTransform_F32

use of boofcv.alg.distort.PointToPixelTransform_F32 in project BoofCV by lessthanoptimal.

the class MultiCameraToEquirectangular method addCamera.

/**
 * Adds a camera and attempts to compute the mask from the provided distortion model.  if a pixel is rendered
 * outside the bounds in the input image then it is masked out.  If the forwards/backwards transform is too
 * different then it is masked out.
 *
 * @param cameraToCommon Rigid body transform from this camera to the common frame the equirectangular image
 *                       is in
 * @param factory Distortion model
 * @param width Input image width
 * @param height Input image height
 */
public void addCamera(Se3_F32 cameraToCommon, LensDistortionWideFOV factory, int width, int height) {
    Point2Transform3_F32 p2s = factory.undistortPtoS_F32();
    Point3Transform2_F32 s2p = factory.distortStoP_F32();
    EquiToCamera equiToCamera = new EquiToCamera(cameraToCommon.getR(), s2p);
    GrayF32 equiMask = new GrayF32(equiWidth, equHeight);
    PixelTransform2_F32 transformEquiToCam = new PixelTransformCached_F32(equiWidth, equHeight, new PointToPixelTransform_F32(equiToCamera));
    Point3D_F32 p3b = new Point3D_F32();
    Point2D_F32 p2 = new Point2D_F32();
    for (int row = 0; row < equHeight; row++) {
        for (int col = 0; col < equiWidth; col++) {
            equiToCamera.compute(col, row, p2);
            int camX = (int) (p2.x + 0.5f);
            int camY = (int) (p2.y + 0.5f);
            if (Double.isNaN(p2.x) || Double.isNaN(p2.y) || camX < 0 || camY < 0 || camX >= width || camY >= height)
                continue;
            p2s.compute(p2.x, p2.y, p3b);
            if (Double.isNaN(p3b.x) || Double.isNaN(p3b.y) || Double.isNaN(p3b.z))
                continue;
            double angle = UtilVector3D_F32.acute(equiToCamera.unitCam, p3b);
            if (angle < maskToleranceAngle) {
                equiMask.set(col, row, 1);
            }
        }
    }
    cameras.add(new Camera(equiMask, transformEquiToCam));
}

Example 3 with PointToPixelTransform_F32

use of boofcv.alg.distort.PointToPixelTransform_F32 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F32 method allInsideLeft.

public static void allInsideLeft(int imageWidth, int imageHeight, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight) {
    PointTransformHomography_F32 tranLeft = new PointTransformHomography_F32(rectifyLeft);
    RectangleLength2D_F32 bound = LensDistortionOps.boundBoxInside(imageWidth, imageHeight, new PointToPixelTransform_F32(tranLeft));
    float scaleX = imageWidth / (float) bound.width;
    float scaleY = imageHeight / (float) bound.height;
    float scale = (float) Math.max(scaleX, scaleY);
    adjustUncalibrated(rectifyLeft, rectifyRight, bound, scale);
}

Example 4 with PointToPixelTransform_F32

use of boofcv.alg.distort.PointToPixelTransform_F32 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F32 method allInsideLeft.

public static void allInsideLeft(CameraPinholeRadial paramLeft, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight, FMatrixRMaj rectifyK) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeRadial(paramLeft);
    Point2Transform2_F32 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    RectangleLength2D_F32 bound = LensDistortionOps.boundBoxInside(paramLeft.width, paramLeft.height, new PointToPixelTransform_F32(tranLeft));
    LensDistortionOps.roundInside(bound);
    float scaleX = paramLeft.width / (float) bound.width;
    float scaleY = paramLeft.height / (float) bound.height;
    float scale = (float) Math.max(scaleX, scaleY);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}

Example 5 with PointToPixelTransform_F32

use of boofcv.alg.distort.PointToPixelTransform_F32 in project BoofCV by lessthanoptimal.

the class MultiCameraToEquirectangular method addCamera.

/**
 * Adds a camera and attempts to compute the mask from the provided distortion model.  if a pixel is rendered
 * outside the bounds in the input image then it is masked out.  If the forwards/backwards transform is too
 * different then it is masked out.
 *
 * @param cameraToCommon Rigid body transform from this camera to the common frame the equirectangular image
 *                       is in
 * @param factory Distortion model
 * @param camMask Binary mask with invalid pixels marked as not zero.  Pixels are in camera image frame.
 */
public void addCamera(Se3_F32 cameraToCommon, LensDistortionWideFOV factory, GrayU8 camMask) {
    Point2Transform3_F32 p2s = factory.undistortPtoS_F32();
    Point3Transform2_F32 s2p = factory.distortStoP_F32();
    EquiToCamera equiToCamera = new EquiToCamera(cameraToCommon.getR(), s2p);
    GrayF32 equiMask = new GrayF32(equiWidth, equHeight);
    PixelTransformCached_F32 transformEquiToCam = new PixelTransformCached_F32(equiWidth, equHeight, new PointToPixelTransform_F32(equiToCamera));
    int width = camMask.width;
    int height = camMask.height;
    Point3D_F32 p3b = new Point3D_F32();
    Point2D_F32 p2 = new Point2D_F32();
    for (int row = 0; row < equHeight; row++) {
        for (int col = 0; col < equiWidth; col++) {
            equiToCamera.compute(col, row, p2);
            if (UtilEjml.isUncountable(p2.x) || UtilEjml.isUncountable(p2.y)) {
                // can't have it be an invalid number in the cache, but had to be invalid so that the mask
                // could be set to zero.  So set it to some valid value that won't cause it to blow up
                transformEquiToCam.getPixel(col, row).set(-1, -1);
                continue;
            }
            int camX = (int) (p2.x + 0.5f);
            int camY = (int) (p2.y + 0.5f);
            if (camX < 0 || camY < 0 || camX >= width || camY >= height)
                continue;
            if (camMask.unsafe_get(camX, camY) == 1) {
                p2s.compute(p2.x, p2.y, p3b);
                if (Double.isNaN(p3b.x) || Double.isNaN(p3b.y) || Double.isNaN(p3b.z))
                    continue;
                double angle = UtilVector3D_F32.acute(equiToCamera.unitCam, p3b);
                if (angle < maskToleranceAngle) {
                    equiMask.set(col, row, 1);
                }
            }
        }
    }
    cameras.add(new Camera(equiMask, transformEquiToCam));
}