Examples with Point3D_F32 georegression.struct.point.Point3D_F32 used on opensource projects

Example 11 with Point3D_F32

use of georegression.struct.point.Point3D_F32 in project BoofCV by lessthanoptimal.

the class ImplPerspectiveOps_F32 method renderPixel.

public static Point2D_F32 renderPixel(Se3_F32 worldToCamera, FMatrixRMaj K, Point3D_F32 X) {
    Point3D_F32 X_cam = new Point3D_F32();
    SePointOps_F32.transform(worldToCamera, X, X_cam);
    // see if it's behind the camera
    if (X_cam.z <= 0)
        return null;
    Point2D_F32 norm = new Point2D_F32(X_cam.x / X_cam.z, X_cam.y / X_cam.z);
    if (K == null)
        return norm;
    // convert into pixel coordinates
    return GeometryMath_F32.mult(K, norm, norm);
}

Example 12 with Point3D_F32

use of georegression.struct.point.Point3D_F32 in project BoofCV by lessthanoptimal.

the class MultiCameraToEquirectangular method addCamera.

/**
 * Adds a camera and attempts to compute the mask from the provided distortion model.  if a pixel is rendered
 * outside the bounds in the input image then it is masked out.  If the forwards/backwards transform is too
 * different then it is masked out.
 *
 * @param cameraToCommon Rigid body transform from this camera to the common frame the equirectangular image
 *                       is in
 * @param factory Distortion model
 * @param camMask Binary mask with invalid pixels marked as not zero.  Pixels are in camera image frame.
 */
public void addCamera(Se3_F32 cameraToCommon, LensDistortionWideFOV factory, GrayU8 camMask) {
    Point2Transform3_F32 p2s = factory.undistortPtoS_F32();
    Point3Transform2_F32 s2p = factory.distortStoP_F32();
    EquiToCamera equiToCamera = new EquiToCamera(cameraToCommon.getR(), s2p);
    GrayF32 equiMask = new GrayF32(equiWidth, equHeight);
    PixelTransformCached_F32 transformEquiToCam = new PixelTransformCached_F32(equiWidth, equHeight, new PointToPixelTransform_F32(equiToCamera));
    int width = camMask.width;
    int height = camMask.height;
    Point3D_F32 p3b = new Point3D_F32();
    Point2D_F32 p2 = new Point2D_F32();
    for (int row = 0; row < equHeight; row++) {
        for (int col = 0; col < equiWidth; col++) {
            equiToCamera.compute(col, row, p2);
            if (UtilEjml.isUncountable(p2.x) || UtilEjml.isUncountable(p2.y)) {
                // can't have it be an invalid number in the cache, but had to be invalid so that the mask
                // could be set to zero.  So set it to some valid value that won't cause it to blow up
                transformEquiToCam.getPixel(col, row).set(-1, -1);
                continue;
            }
            int camX = (int) (p2.x + 0.5f);
            int camY = (int) (p2.y + 0.5f);
            if (camX < 0 || camY < 0 || camX >= width || camY >= height)
                continue;
            if (camMask.unsafe_get(camX, camY) == 1) {
                p2s.compute(p2.x, p2.y, p3b);
                if (Double.isNaN(p3b.x) || Double.isNaN(p3b.y) || Double.isNaN(p3b.z))
                    continue;
                double angle = UtilVector3D_F32.acute(equiToCamera.unitCam, p3b);
                if (angle < maskToleranceAngle) {
                    equiMask.set(col, row, 1);
                }
            }
        }
    }
    cameras.add(new Camera(equiMask, transformEquiToCam));
}

Example 13 with Point3D_F32

use of georegression.struct.point.Point3D_F32 in project BoofCV by lessthanoptimal.

the class DisplayFisheyeCalibrationPanel method setPinholeCenter.

public void setPinholeCenter(double pixelX, double pixelY) {
    this.pixelX = pixelX;
    this.pixelY = pixelY;
    Point3D_F32 norm = new Point3D_F32();
    fisheyeDistort.undistortPtoS_F32().compute((float) pixelX, (float) pixelY, norm);
    Rodrigues_F32 rotation = new Rodrigues_F32();
    Vector3D_F32 canonical = new Vector3D_F32(0, 0, 1);
    rotation.theta = UtilVector3D_F32.acute(new Vector3D_F32(norm), canonical);
    GeometryMath_F32.cross(canonical, norm, rotation.unitAxisRotation);
    rotation.unitAxisRotation.normalize();
    FMatrixRMaj R = ConvertRotation3D_F32.rodriguesToMatrix(rotation, null);
    distorter.setRotationWideToNarrow(R);
    distortImage.setModel(new PointToPixelTransform_F32(distorter));
}

Example 14 with Point3D_F32

use of georegression.struct.point.Point3D_F32 in project BoofCV by lessthanoptimal.

the class TestPinholeRadialToEquirectangular_F32 method assertPointing.

private void assertPointing(PinholeRadialToEquirectangular_F32 alg, int x, int y, float nx, float ny, float nz) {
    EquirectangularTools_F32 tools = new EquirectangularTools_F32();
    tools.configure(equiWidth, equiHeight);
    Point3D_F32 n = new Point3D_F32();
    alg.compute(x, y);
    tools.equiToNormFV(alg.distX, alg.distY, n);
    assertEquals(nx, n.x, GrlConstants.TEST_F32);
    assertEquals(ny, n.y, GrlConstants.TEST_F32);
    assertEquals(nz, n.z, GrlConstants.TEST_F32);
}

Example 15 with Point3D_F32

use of georegression.struct.point.Point3D_F32 in project BoofCV by lessthanoptimal.

the class TestPinholeToEquirectangular_F32 method assertPointing.

private void assertPointing(PinholeToEquirectangular_F32 alg, int x, int y, float nx, float ny, float nz) {
    EquirectangularTools_F32 tools = new EquirectangularTools_F32();
    tools.configure(equiWidth, equiHeight);
    Point3D_F32 n = new Point3D_F32();
    alg.compute(x, y);
    tools.equiToNormFV(alg.distX, alg.distY, n);
    assertEquals(nx, n.x, GrlConstants.TEST_F32);
    assertEquals(ny, n.y, GrlConstants.TEST_F32);
    assertEquals(nz, n.z, GrlConstants.TEST_F32);
}