Examples with Rodrigues_F32 georegression.struct.so.Rodrigues_F32 used on opensource projects

Example 1 with Rodrigues_F32

use of georegression.struct.so.Rodrigues_F32 in project BoofCV by lessthanoptimal.

the class DisplayFisheyeCalibrationPanel method setPinholeCenter.

public void setPinholeCenter(double pixelX, double pixelY) {
    this.pixelX = pixelX;
    this.pixelY = pixelY;
    var norm = new Point3D_F32();
    Objects.requireNonNull(fisheyeDistort);
    fisheyeDistort.undistortPtoS_F32().compute((float) pixelX, (float) pixelY, norm);
    var rotation = new Rodrigues_F32();
    var 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);
    Objects.requireNonNull(distorter);
    distorter.setRotationWideToNarrow(R);
    distortImage.setModel(new PointToPixelTransform_F32(distorter));
}