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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2021, 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.spherical;
import javax.annotation.Generated;
import boofcv.struct.geo.GeoLL_F32;
import georegression.geometry.ConvertCoordinates3D_F32;
import georegression.metric.UtilAngle;
import georegression.misc.GrlConstants;
import georegression.struct.point.Point2D_F32;
import georegression.struct.point.Point3D_F32;
/**
* Contains common operations for handling coordinates in an equirectangular image.
* On most globes, a positive latitude corresponds to the north pole, or up, and negative towards the south pole.
* Images have 0 on the top and increase downwards. To compensate for this the y-axis can be flipped. This
* is indicated by functions with FV (flip vertical) on the end of their name.
*
* Coordinate System:
*
* - longitude is along the x-axis and goes from -pi to pi
* - latitude is along the y-axis and goes from -pi/2 to pi/2
* - image center (width/2, (height-1)/2.0ff) or (lat=0, lon=0) corresponds to a unit sphere of (1,0,0)
* - unit sphere of (0,0,1) is pixel (width/2,0) and (0,0,-1) is (width/2,height-1)
* - unit sphere of (0,1,0) is pixel (3*width/4,(height-1)/2) and (0,0,-1) is (width/4,(height-1)/2)
*
* Coordinate System with y-flipped:
*
* - longitude is along the x-axis and goes from -pi to pi
* - latitude is along the y-axis and goes from pi/2 to -pi/2
* - image center (width/2, height/2) or (lat=0, lon=0) corresponds to a unit sphere of (1,0,0)
* - unit sphere of (0,0,1) is pixel (width/2,height-1) and (0,0,-1) is (width/2,0)
* - unit sphere of (0,1,0) is pixel (3*width/4,(height-1)/2) and (0,0,-1) is (width/4,(height-1)/2)
*
*
* Latitude and Longitude shown on a sphere in equirectangular format. Note that y is NOT flipped and angles
* are shown in degrees not radians git push.
*
* 
*
*
* @author Peter Abeles
*/
@Generated("boofcv.alg.distort.spherical.EquirectangularTools_F64")
public class EquirectangularTools_F32 {
// input image width and height
int width;
int height;
// internal storage to avoid declaring new memory
GeoLL_F32 temp = new GeoLL_F32();
/**
* Specifies the image and which latitude/longtiude will comprise the center axises
*
* @param width Image width
* @param height Image height
*/
public void configure( int width, int height ) {
this.width = width;
this.height = height;
}
/**
* Converts equirectangular into normalized pointing vector
*
* @param x pixel coordinate in equirectangular image
* @param y pixel coordinate in equirectangular image
* @param norm Normalized pointing vector
*/
public void equiToNorm( float x, float y, Point3D_F32 norm ) {
equiToLatLon(x, y, temp);
ConvertCoordinates3D_F32.latlonToUnitVector(temp.lat, temp.lon, norm);
}
public void normToEqui( float nx, float ny, float nz, Point2D_F32 rect ) {
/**/double r = /**/Math.sqrt(nx*nx + ny*ny);
/**/double lon = /**/Math.atan2(ny, nx);
/**/double lat = UtilAngle.atanSafe(-nz, r);
latlonToEqui((float)lat, (float)lon, rect);
}
public void equiToNormFV( float x, float y, Point3D_F32 norm ) {
equiToLatLonFV(x, y, temp);
ConvertCoordinates3D_F32.latlonToUnitVector(temp.lat, temp.lon, norm);
}
public void normToEquiFV( float nx, float ny, float nz, Point2D_F32 rect ) {
/**/double r = /**/Math.sqrt(nx*nx + ny*ny);
/**/double lon = /**/Math.atan2(ny, nx);
/**/double lat = UtilAngle.atanSafe(-nz, r);
latlonToEquiFV((float)lat, (float)lon, rect);
}
/**
* Converts the equirectangular coordinate into a latitude and longitude
*
* @param x pixel coordinate in equirectangular image
* @param y pixel coordinate in equirectangular image
* @param geo (output)
*/
public void equiToLatLon( float x, float y, GeoLL_F32 geo ) {
geo.lon = (x/width - 0.5f)*GrlConstants.F_PI2;
geo.lat = (y/(height - 1) - 0.5f)*GrlConstants.F_PI;
}
/**
*
* Converts the equirectangular coordinate into a latitude and longitude.
* Vertical equirectangular axis has been flipped
*
* y' = height - y - 1
*
* @param x pixel coordinate in equirectangular image
* @param y pixel coordinate in equirectangular image
* @param geo (output)
*/
public void equiToLatLonFV( float x, float y, GeoLL_F32 geo ) {
geo.lon = (x/width - 0.5f)*GrlConstants.F_PI2;
geo.lat = ((height - y - 1.0f)/(height - 1) - 0.5f)*GrlConstants.F_PI;
}
/**
* Convert from latitude-longitude coordinates into equirectangular coordinates
*
* @param lat Latitude
* @param lon Longitude
* @param rect (Output) equirectangular coordinate
*/
public void latlonToEqui( float lat, float lon, Point2D_F32 rect ) {
rect.x = UtilAngle.wrapZeroToOne(lon/GrlConstants.F_PI2 + 0.5f)*width;
rect.y = UtilAngle.reflectZeroToOne(lat/GrlConstants.F_PI + 0.5f)*(height - 1);
}
/**
* Convert from latitude-longitude coordinates into equirectangular coordinates.
* Vertical equirectangular axis has been flipped
*
* @param lat Latitude
* @param lon Longitude
* @param rect (Output) equirectangular coordinate
*/
public void latlonToEquiFV( float lat, float lon, Point2D_F32 rect ) {
rect.x = UtilAngle.wrapZeroToOne(lon/GrlConstants.F_PI2 + 0.5f)*width;
rect.y = UtilAngle.reflectZeroToOne(lat/GrlConstants.F_PI + 0.5f)*(height - 1);
rect.y = height - rect.y - 1;
}
public int getWidth() {
return width;
}
public int getHeight() {
return height;
}
}