Examples with Point2Transform3_F64 boofcv.struct.distort.Point2Transform3_F64 used on opensource projects

Example 1 with Point2Transform3_F64

use of boofcv.struct.distort.Point2Transform3_F64 in project BoofCV by lessthanoptimal.

the class ExampleFisheyeToEquirectangular method createMask.

/**
 * Creates a mask telling the algorithm which pixels are valid and which are not.  The field-of-view (FOV) of the
 * camera is known so we will use that information to do a better job of filtering out invalid pixels than
 * it can do alone.
 */
public static GrayU8 createMask(CameraUniversalOmni model, LensDistortionWideFOV distortion, double fov) {
    GrayU8 mask = new GrayU8(model.width, model.height);
    Point2Transform3_F64 p2s = distortion.undistortPtoS_F64();
    Point3D_F64 ref = new Point3D_F64(0, 0, 1);
    Point3D_F64 X = new Point3D_F64();
    p2s.compute(model.cx, model.cy, X);
    for (int y = 0; y < model.height; y++) {
        for (int x = 0; x < model.width; x++) {
            p2s.compute(x, y, X);
            if (Double.isNaN(X.x) || Double.isNaN(X.y) || Double.isNaN(X.z)) {
                continue;
            }
            double angle = UtilVector3D_F64.acute(ref, X);
            if (Double.isNaN(angle)) {
                continue;
            }
            if (angle <= fov / 2.0)
                mask.unsafe_set(x, y, 1);
        }
    }
    return mask;
}

Example 2 with Point2Transform3_F64

use of boofcv.struct.distort.Point2Transform3_F64 in project BoofCV by lessthanoptimal.

the class TestNarrowToWidePtoP_F64 method checkFOVBounds.

/**
 * Request points at the border and see if it has the expected vertical and horizontal FOV
 */
@Test
public void checkFOVBounds() {
    NarrowToWidePtoP_F64 alg = createAlg();
    Point2D_F64 foundA = new Point2D_F64();
    Point2D_F64 foundB = new Point2D_F64();
    Point3D_F64 vA = new Point3D_F64();
    Point3D_F64 vB = new Point3D_F64();
    // Compute the horizontal FOV
    alg.compute(0, 250, foundA);
    alg.compute(500, 250, foundB);
    Point2Transform3_F64 wideToSphere = createModelWide().undistortPtoS_F64();
    wideToSphere.compute(foundA.x, foundA.y, vA);
    wideToSphere.compute(foundB.x, foundB.y, vB);
    double found = UtilVector3D_F64.acute(new Vector3D_F64(vA), new Vector3D_F64(vB));
    double expected = 2.0 * Math.atan(250.0 / 400.0);
    assertEquals(expected, found, 0.01);
    // Compute the vertical FOV
    alg.compute(250, 0, foundA);
    alg.compute(250, 500, foundB);
    wideToSphere.compute(foundA.x, foundA.y, vA);
    wideToSphere.compute(foundB.x, foundB.y, vB);
    found = UtilVector3D_F64.acute(new Vector3D_F64(vA), new Vector3D_F64(vB));
    expected = 2.0 * Math.atan(250.0 / 400.0);
    assertEquals(expected, found, 0.001);
}

Example 3 with Point2Transform3_F64

use of boofcv.struct.distort.Point2Transform3_F64 in project BoofCV by lessthanoptimal.

the class GeneralLensDistortionWideFOVChecks method pixel_unit_pixel_F64.

@Test
public void pixel_unit_pixel_F64() {
    LensDistortionWideFOV alg = create();
    Point2Transform3_F64 undistort = alg.undistortPtoS_F64();
    Point3Transform2_F64 distort = alg.distortStoP_F64();
    Point3D_F64 middle = new Point3D_F64();
    Point2D_F64 found = new Point2D_F64();
    undistort.compute(240, 260, middle);
    distort.compute(middle.x, middle.y, middle.z, found);
    assertEquals(240, found.x, pixel_tol_F64);
    assertEquals(260, found.y, pixel_tol_F64);
}