Examples with FMatrixRMaj org.ejml.data.FMatrixRMaj used on opensource projects

Example 36 with FMatrixRMaj

use of org.ejml.data.FMatrixRMaj 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));
}