Examples with PinholePtoN_F32 boofcv.alg.distort.pinhole.PinholePtoN_F32 used on opensource projects

Example 1 with PinholePtoN_F32

use of boofcv.alg.distort.pinhole.PinholePtoN_F32 in project BoofCV by lessthanoptimal.

the class PinholeToEquirectangular_F32 method setPinhole.

/**
 * Specifies the pinhole camera
 * @param pinhole intrinsic parameters of pinhole camera
 */
public void setPinhole(CameraPinhole pinhole) {
    this.pinhole = pinhole;
    declareVectors(pinhole.width, pinhole.height);
    // computing the 3D ray through each pixel in the pinhole camera at it's canonical
    // location
    PinholePtoN_F32 pixelToNormalized = new PinholePtoN_F32();
    pixelToNormalized.set(pinhole.fx, pinhole.fy, pinhole.skew, pinhole.cx, pinhole.cy);
    Point2D_F32 norm = new Point2D_F32();
    for (int pixelY = 0; pixelY < pinhole.height; pixelY++) {
        for (int pixelX = 0; pixelX < pinhole.width; pixelX++) {
            pixelToNormalized.compute(pixelX, pixelY, norm);
            Point3D_F32 v = vectors[pixelY * pinhole.width + pixelX];
            v.set(norm.x, norm.y, 1);
        }
    }
}

Example 2 with PinholePtoN_F32

use of boofcv.alg.distort.pinhole.PinholePtoN_F32 in project BoofCV by lessthanoptimal.

the class ImplPerspectiveOps_F32 method convertPixelToNorm.

public static Point2D_F32 convertPixelToNorm(FMatrixRMaj K, Point2D_F32 pixel, Point2D_F32 norm) {
    if (norm == null)
        norm = new Point2D_F32();
    PinholePtoN_F32 alg = new PinholePtoN_F32();
    alg.set(K.get(0, 0), K.get(1, 1), K.get(0, 1), K.get(0, 2), K.get(1, 2));
    alg.compute(pixel.x, pixel.y, norm);
    return norm;
}

Example 3 with PinholePtoN_F32

use of boofcv.alg.distort.pinhole.PinholePtoN_F32 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F32 method transformPixelToRectNorm.

public static Point2Transform2_F32 transformPixelToRectNorm(CameraPinholeRadial param, FMatrixRMaj rectify, FMatrixRMaj rectifyK) {
    if (rectifyK.get(0, 1) != 0)
        throw new IllegalArgumentException("Skew should be zero in rectified images");
    Point2Transform2_F32 remove_p_to_p = narrow(param).undistort_F32(true, true);
    PointTransformHomography_F32 rectifyDistort = new PointTransformHomography_F32(rectify);
    PinholePtoN_F32 pixelToNorm = new PinholePtoN_F32();
    pixelToNorm.set(rectifyK.get(0, 0), rectifyK.get(1, 1), rectifyK.get(0, 1), rectifyK.get(0, 2), rectifyK.get(1, 2));
    return new SequencePoint2Transform2_F32(remove_p_to_p, rectifyDistort, pixelToNorm);
}