Examples with CameraPinholeRadial boofcv.struct.calib.CameraPinholeRadial used on opensource projects

Example 71 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestRectifyImageOps method transformPixelToRectNorm_F64.

/**
 * Test by using other tested functions, then manually applying the last step
 */
@Test
public void transformPixelToRectNorm_F64() {
    CameraPinholeRadial param = new CameraPinholeRadial().fsetK(300, 320, 0, 150, 130, width, height).fsetRadial(0.1, 1e-4);
    DMatrixRMaj rect = new DMatrixRMaj(3, 3, true, 1.1, 0, 0, 0, 2, 0, 0.1, 0, 3);
    DMatrixRMaj rectK = PerspectiveOps.calibrationMatrix(param, (DMatrixRMaj) null);
    DMatrixRMaj rectK_inv = new DMatrixRMaj(3, 3);
    CommonOps_DDRM.invert(rectK, rectK_inv);
    Point2Transform2_F64 tranRect = RectifyImageOps.transformPixelToRect(param, rect);
    Point2Transform2_F64 alg = RectifyImageOps.transformPixelToRectNorm(param, rect, rectK);
    double x = 10, y = 20;
    // compute expected results
    Point2D_F64 rectified = new Point2D_F64();
    tranRect.compute(x, y, rectified);
    Point2D_F64 expected = new Point2D_F64();
    GeometryMath_F64.mult(rectK_inv, new Point2D_F64(rectified.x, rectified.y), expected);
    // compute the 'found' results
    Point2D_F64 found = new Point2D_F64();
    alg.compute(x, y, found);
    assertEquals(expected.x, found.x, 1e-4);
    assertEquals(expected.y, found.y, 1e-4);
}

Example 72 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestPinholeRadialToEquirectangular_F32 method setDirection.

/**
 * Rotate the camera and see if the camera center is pointing in the right direction now
 */
@Test
public void setDirection() {
    CameraPinholeRadial intrinsic = new CameraPinholeRadial(400, 400, 0, imgWidth / 2, imgHeight / 2, imgWidth, imgHeight);
    intrinsic.setRadial(0.1f, 0.2f);
    PinholeRadialToEquirectangular_F32 alg = new PinholeRadialToEquirectangular_F32();
    alg.setPinhole(intrinsic);
    alg.setEquirectangularShape(equiWidth, equiHeight);
    alg.setDirection(0, (float) Math.PI / 2, 0);
    assertPointing(alg, imgWidth / 2, imgHeight / 2, 1, 0, 0);
}

Example 73 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestPinholeRadialToEquirectangular_F32 method canonicalIsPointedPositiveZ.

/**
 * Makes sure the canonical orientation is pointed along the positive z axis.  This is done by projecting
 * the center of the pinhole at default orientation.
 */
@Test
public void canonicalIsPointedPositiveZ() {
    CameraPinholeRadial intrinsic = new CameraPinholeRadial(400, 400, 0, imgWidth / 2, imgHeight / 2, imgWidth, imgHeight);
    intrinsic.setRadial(0.1f, 0.2f);
    PinholeRadialToEquirectangular_F32 alg = new PinholeRadialToEquirectangular_F32();
    alg.setPinhole(intrinsic);
    alg.setEquirectangularShape(equiWidth, equiHeight);
    assertPointing(alg, imgWidth / 2, imgHeight / 2, 0, 0, 1);
}

Example 74 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestPinholeRadialToEquirectangular_F64 method canonicalIsPointedPositiveZ.

/**
 * Makes sure the canonical orientation is pointed along the positive z axis.  This is done by projecting
 * the center of the pinhole at default orientation.
 */
@Test
public void canonicalIsPointedPositiveZ() {
    CameraPinholeRadial intrinsic = new CameraPinholeRadial(400, 400, 0, imgWidth / 2, imgHeight / 2, imgWidth, imgHeight);
    intrinsic.setRadial(0.1, 0.2);
    PinholeRadialToEquirectangular_F64 alg = new PinholeRadialToEquirectangular_F64();
    alg.setPinhole(intrinsic);
    alg.setEquirectangularShape(equiWidth, equiHeight);
    assertPointing(alg, imgWidth / 2, imgHeight / 2, 0, 0, 1);
}

Example 75 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestPinholeRadialToEquirectangular_F64 method setDirection.

/**
 * Rotate the camera and see if the camera center is pointing in the right direction now
 */
@Test
public void setDirection() {
    CameraPinholeRadial intrinsic = new CameraPinholeRadial(400, 400, 0, imgWidth / 2, imgHeight / 2, imgWidth, imgHeight);
    intrinsic.setRadial(0.1, 0.2);
    PinholeRadialToEquirectangular_F64 alg = new PinholeRadialToEquirectangular_F64();
    alg.setPinhole(intrinsic);
    alg.setEquirectangularShape(equiWidth, equiHeight);
    alg.setDirection(0, Math.PI / 2, 0);
    assertPointing(alg, imgWidth / 2, imgHeight / 2, 1, 0, 0);
}