Examples with SequencePoint2Transform2_F32 boofcv.struct.distort.SequencePoint2Transform2_F32 used on opensource projects

Example 6 with SequencePoint2Transform2_F32

use of boofcv.struct.distort.SequencePoint2Transform2_F32 in project BoofCV by lessthanoptimal.

the class PyramidDirectColorDepth_to_DepthVisualOdometry method setCalibration.

@Override
public void setCalibration(CameraPinholeBrown paramVisual, Point2Transform2_F32 visToDepth) {
    // the algorithms camera model assumes no lens distortion and that skew = 0
    CameraPinhole desired = new CameraPinhole(paramVisual);
    desired.skew = 0;
    adjustImage = LensDistortionOps.changeCameraModel(AdjustmentType.EXPAND, BorderType.ZERO, paramVisual, desired, paramAdjusted, algType);
    Point2Transform2_F32 desiredToOriginal = LensDistortionOps_F32.transformChangeModel(AdjustmentType.EXPAND, paramVisual, desired, false, null);
    // the adjusted undistorted image pixel to the depth image transform
    Point2Transform2_F32 adjustedToDepth = new SequencePoint2Transform2_F32(desiredToOriginal, visToDepth);
    // Create a lookup table to make the math much faster
    PixelTransform<Point2D_F32> pixelAdjToDepth = new PixelTransformCached_F32(paramAdjusted.width, paramAdjusted.height, adjustedToDepth);
    // adjusted pixels to normalized image coordinates in RGB frame
    sparse3D.configure(LensDistortionFactory.narrow(paramAdjusted), pixelAdjToDepth);
    undistorted.reshape(paramAdjusted.width, paramAdjusted.height);
    if (convertInput != null) {
        inputConverted.reshape(paramAdjusted.width, paramAdjusted.height);
    }
    alg.setCameraParameters((float) paramAdjusted.fx, (float) paramAdjusted.fy, (float) paramAdjusted.cx, (float) paramAdjusted.cy, paramAdjusted.width, paramAdjusted.height);
}