Examples with Point2Transform2_F64 boofcv.struct.distort.Point2Transform2_F64 used on opensource projects

Example 56 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method transformRectToPixel.

public static Point2Transform2_F64 transformRectToPixel(CameraPinholeBrown param, DMatrixRMaj rectify) {
    Point2Transform2_F64 add_p_to_p = narrow(param).distort_F64(true, true);
    DMatrixRMaj rectifyInv = new DMatrixRMaj(3, 3);
    CommonOps_DDRM.invert(rectify, rectifyInv);
    PointTransformHomography_F64 removeRect = new PointTransformHomography_F64(rectifyInv);
    return new SequencePoint2Transform2_F64(removeRect, add_p_to_p);
}

Example 57 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method allInsideLeft.

public static void allInsideLeft(CameraPinholeBrown paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK, ImageDimension rectifiedSize) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeBrown(paramLeft);
    Point2Transform2_F64 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    Point2D_F64 work = new Point2D_F64();
    RectangleLength2D_F64 bound = LensDistortionOps_F64.boundBoxInside(paramLeft.width, paramLeft.height, new PointToPixelTransform_F64(tranLeft), work);
    LensDistortionOps_F64.roundInside(bound);
    // Select scale to maintain the same number of pixels
    double scale = Math.sqrt((paramLeft.width * paramLeft.height) / (bound.width * bound.height));
    rectifiedSize.width = (int) (scale * bound.width + 0.5);
    rectifiedSize.height = (int) (scale * bound.height + 0.5);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}

Example 58 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method fullViewLeft.

public static void fullViewLeft(int imageWidth, int imageHeight, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight) {
    Point2Transform2_F64 tranLeft = new PointTransformHomography_F64(rectifyLeft);
    Point2D_F64 work = new Point2D_F64();
    RectangleLength2D_F64 bound = DistortImageOps.boundBox_F64(imageWidth, imageHeight, new PointToPixelTransform_F64(tranLeft), work);
    double scaleX = imageWidth / bound.width;
    double scaleY = imageHeight / bound.height;
    double scale = Math.min(scaleX, scaleY);
    adjustUncalibrated(rectifyLeft, rectifyRight, bound, scale);
}

Example 59 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method fullViewLeft.

public static void fullViewLeft(CameraPinholeBrown paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK, ImageDimension rectifiedSize) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeBrown(paramLeft);
    Point2Transform2_F64 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    Point2D_F64 work = new Point2D_F64();
    RectangleLength2D_F64 bound = DistortImageOps.boundBox_F64(paramLeft.width, paramLeft.height, new PointToPixelTransform_F64(tranLeft), work);
    // Select scale to maintain the same number of pixels
    double scale = Math.sqrt((paramLeft.width * paramLeft.height) / (bound.width * bound.height));
    rectifiedSize.width = (int) (scale * bound.width + 0.5);
    rectifiedSize.height = (int) (scale * bound.height + 0.5);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}

Example 60 with Point2Transform2_F64

use of boofcv.struct.distort.Point2Transform2_F64 in project BoofCV by lessthanoptimal.

the class VisOdomMonoDepthPnP method estimateMotion.

/**
 * Estimates motion from the set of tracks and their 3D location
 *
 * @return true if successful.
 */
private boolean estimateMotion(List<PointTrack> active) {
    Point2Transform2_F64 pixelToNorm = cameraModels.get(0).pixelToNorm;
    Objects.requireNonNull(framePrevious).frame_to_world.invert(world_to_prev);
    // Create a list of observations for PnP
    // normalized image coordinates and 3D in the previous keyframe's reference frame
    observationsPnP.reset();
    for (int activeIdx = 0; activeIdx < active.size(); activeIdx++) {
        PointTrack pt = active.get(activeIdx);
        // Build the list of tracks which are currently visible
        initialVisible.add((Track) pt.cookie);
        // Extract info needed to estimate motion
        Point2D3D p = observationsPnP.grow();
        pixelToNorm.compute(pt.pixel.x, pt.pixel.y, p.observation);
        Track bt = pt.getCookie();
        // Go from world coordinates to the previous frame
        SePointOps_F64.transform(world_to_prev, bt.worldLoc, prevLoc4);
        // Go from homogenous coordinates into 3D coordinates
        PerspectiveOps.homogenousTo3dPositiveZ(prevLoc4, 1e8, 1e-7, p.location);
    }
    // estimate the motion up to a scale factor in translation
    if (!motionEstimator.process(observationsPnP.toList()))
        return false;
    Se3_F64 previous_to_current;
    if (refine != null) {
        previous_to_current = new Se3_F64();
        refine.fitModel(motionEstimator.getMatchSet(), motionEstimator.getModelParameters(), previous_to_current);
    } else {
        previous_to_current = motionEstimator.getModelParameters();
    }
    // Change everything back to the world frame
    previous_to_current.invert(current_to_previous);
    current_to_previous.concat(framePrevious.frame_to_world, frameCurrent.frame_to_world);
    return true;
}