boofcv.alg.distort.pinhole.PinholePtoN_F32 Maven / Gradle / Ivy

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/*
 * Copyright (c) 2011-2017, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.distort.pinhole;

import boofcv.struct.distort.Point2Transform2_F32;
import georegression.struct.point.Point2D_F32;

/**
 * Converts an image pixel coordinate into a normalized pixel coordinate using the
 * camera's intrinsic parameters.  Lens distortion must have already been removed.
 *
 * @author Peter Abeles
 */
public class PinholePtoN_F32 implements Point2Transform2_F32 {

	// inverse of camera calibration matrix
	// These are the upper triangular elements in a 3x3 matrix
	private float a11,a12,a13,a22,a23;

	public void set(/**/double fx, /**/double fy, /**/double skew, /**/double cx, /**/double cy ) {

		// analytic solution to matrix inverse
		a11 = (float)(1.0f/fx);
		a12 = (float)(-skew/(fx*fy));
		a13 = (float)((skew*cy - cx*fy)/(fx*fy));
		a22 = (float)(1.0f/fy);
		a23 = (float)(-cy/fy);
	}


	@Override
	public void compute(float x, float y, Point2D_F32 out) {
		out.x = a11*x + a12*y + a13;
		out.y = a22*y + a23;
	}
}