Examples with Point2Transform2_F32 boofcv.struct.distort.Point2Transform2_F32 used on opensource projects

Example 6 with Point2Transform2_F32

use of boofcv.struct.distort.Point2Transform2_F32 in project BoofCV by lessthanoptimal.

the class PinholeRadialToEquirectangular_F32 method setPinhole.

/**
 * Specifies the pinhole camera
 * @param pinhole intrinsic parameters of pinhole camera
 */
public void setPinhole(CameraPinholeRadial 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
    Point2Transform2_F32 pixelToNormalized = new LensDistortionRadialTangential(pinhole).undistort_F32(true, false);
    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 7 with Point2Transform2_F32

use of boofcv.struct.distort.Point2Transform2_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);
}

Example 8 with Point2Transform2_F32

use of boofcv.struct.distort.Point2Transform2_F32 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F32 method transformRectToPixel.

public static Point2Transform2_F32 transformRectToPixel(CameraPinholeRadial param, FMatrixRMaj rectify) {
    Point2Transform2_F32 add_p_to_p = narrow(param).distort_F32(true, true);
    FMatrixRMaj rectifyInv = new FMatrixRMaj(3, 3);
    CommonOps_FDRM.invert(rectify, rectifyInv);
    PointTransformHomography_F32 removeRect = new PointTransformHomography_F32(rectifyInv);
    return new SequencePoint2Transform2_F32(removeRect, add_p_to_p);
}

Example 9 with Point2Transform2_F32

use of boofcv.struct.distort.Point2Transform2_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 10 with Point2Transform2_F32

use of boofcv.struct.distort.Point2Transform2_F32 in project BoofCV by lessthanoptimal.

the class SfmTestHelper method renderPointPixel.

/**
 * Renders a 3D point in the left and right camera views given the stereo parameters. Lens distortion
 * is taken in account.
 *
 * @param param Stereo parameters
 * @param X Point location in 3D space
 * @param left location in pixels in left camera
 * @param right location in pixels in right camera
 */
public static void renderPointPixel(StereoParameters param, Point3D_F64 X, Point2D_F64 left, Point2D_F64 right) {
    // compute the location of X in the right camera's reference frame
    Point3D_F64 rightX = new Point3D_F64();
    SePointOps_F64.transform(param.getRightToLeft().invert(null), X, rightX);
    // location of object in normalized image coordinates
    Point2D_F64 normLeft = new Point2D_F64(X.x / X.z, X.y / X.z);
    Point2D_F64 normRight = new Point2D_F64(rightX.x / rightX.z, rightX.y / rightX.z);
    // convert into pixel coordinates
    Point2D_F64 pixelLeft = PerspectiveOps.convertNormToPixel(param.left, normLeft.x, normLeft.y, null);
    Point2D_F64 pixelRight = PerspectiveOps.convertNormToPixel(param.right, normRight.x, normRight.y, null);
    // take in account lens distortion
    Point2Transform2_F32 distLeft = LensDistortionOps.narrow(param.left).distort_F32(true, true);
    Point2Transform2_F32 distRight = LensDistortionOps.narrow(param.right).distort_F32(true, true);
    Point2D_F32 lensLeft = new Point2D_F32();
    Point2D_F32 lensRight = new Point2D_F32();
    distLeft.compute((float) pixelLeft.x, (float) pixelLeft.y, lensLeft);
    distRight.compute((float) pixelRight.x, (float) pixelRight.y, lensRight);
    // output solution
    left.set(lensLeft.x, lensLeft.y);
    right.set(lensRight.x, lensRight.y);
}