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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2022, 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.geo.impl;
import boofcv.alg.distort.pinhole.PinholeNtoP_F64;
import boofcv.alg.distort.pinhole.PinholePtoN_F64;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.factory.distort.LensDistortionFactory;
import boofcv.struct.calib.CameraModel;
import boofcv.struct.calib.CameraPinhole;
import boofcv.struct.distort.Point2Transform2_F64;
import georegression.geometry.GeometryMath_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Point4D_F64;
import georegression.struct.point.Vector3D_F64;
import georegression.struct.se.Se3_F64;
import georegression.transform.se.SePointOps_F64;
import org.ejml.data.DMatrix3x3;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.fixed.CommonOps_DDF3;
import org.ejml.dense.row.CommonOps_DDRM;
import org.jetbrains.annotations.Nullable;
/**
* Implementation of {@link PerspectiveOps} functions for 64-bit floats
*
* @author Peter Abeles
*/
public class ImplPerspectiveOps_F64 {
public static C adjustIntrinsic( C parameters,
DMatrixRMaj adjustMatrix,
@Nullable C adjustedParam ) {
if (adjustedParam == null)
adjustedParam = parameters.createLike();
adjustedParam.setTo(parameters);
DMatrixRMaj K = ImplPerspectiveOps_F64.pinholeToMatrix(parameters, (DMatrixRMaj)null);
DMatrixRMaj K_adj = new DMatrixRMaj(3, 3);
CommonOps_DDRM.mult(adjustMatrix, K, K_adj);
ImplPerspectiveOps_F64.matrixToPinhole(K_adj, parameters.width, parameters.height, adjustedParam);
return adjustedParam;
}
public static DMatrixRMaj pinholeToMatrix( double fx, double fy, double skew,
double cx, double cy, @Nullable DMatrixRMaj K ) {
if (K == null) {
K = new DMatrixRMaj(3, 3);
} else {
K.reshape(3, 3);
}
CommonOps_DDRM.fill(K, 0);
K.data[0] = fx;
K.data[1] = skew;
K.data[2] = cx;
K.data[4] = fy;
K.data[5] = cy;
K.data[8] = 1;
return K;
}
public static DMatrixRMaj pinholeToMatrix( CameraPinhole param, @Nullable DMatrixRMaj K ) {
return pinholeToMatrix((double)param.fx, (double)param.fy, (double)param.skew, (double)param.cx, (double)param.cy, K);
}
public static DMatrix3x3 pinholeToMatrix( CameraPinhole param, @Nullable DMatrix3x3 K ) {
if (K == null) {
K = new DMatrix3x3();
} else {
CommonOps_DDF3.fill(K, 0);
}
K.a11 = (double)param.fx;
K.a12 = (double)param.skew;
K.a13 = (double)param.cx;
K.a22 = (double)param.fy;
K.a23 = (double)param.cy;
K.a33 = 1;
return K;
}
public static CameraPinhole matrixToPinhole( DMatrixRMaj K, int width, int height, @Nullable CameraPinhole output ) {
if (output == null)
output = new CameraPinhole();
output.fx = K.get(0, 0);
output.fy = K.get(1, 1);
output.skew = K.get(0, 1);
output.cx = K.get(0, 2);
output.cy = K.get(1, 2);
output.width = width;
output.height = height;
return output;
}
public static Point2D_F64 convertNormToPixel( CameraModel param, double x, double y, @Nullable Point2D_F64 pixel ) {
if (pixel == null)
pixel = new Point2D_F64();
Point2Transform2_F64 normToPixel = LensDistortionFactory.narrow(param).distort_F64(false, true);
normToPixel.compute(x, y, pixel);
return pixel;
}
public static Point2D_F64 convertNormToPixel( DMatrixRMaj K, Point2D_F64 norm, @Nullable Point2D_F64 pixel ) {
if (pixel == null)
pixel = new Point2D_F64();
PinholeNtoP_F64 alg = new PinholeNtoP_F64();
alg.setK(K.get(0, 0), K.get(1, 1), K.get(0, 1), K.get(0, 2), K.get(1, 2));
alg.compute(norm.x, norm.y, pixel);
return pixel;
}
public static Point2D_F64 convertPixelToNorm( CameraModel param, Point2D_F64 pixel, @Nullable Point2D_F64 norm ) {
if (norm == null)
norm = new Point2D_F64();
Point2Transform2_F64 pixelToNorm = LensDistortionFactory.narrow(param).undistort_F64(true, false);
pixelToNorm.compute(pixel.x, pixel.y, norm);
return norm;
}
public static Point2D_F64 convertPixelToNorm( DMatrixRMaj K, Point2D_F64 pixel, @Nullable Point2D_F64 norm ) {
if (norm == null)
norm = new Point2D_F64();
var alg = new PinholePtoN_F64();
alg.setK(K.get(0, 0), K.get(1, 1), K.get(0, 1), K.get(0, 2), K.get(1, 2));
alg.compute(pixel.x, pixel.y, norm);
return norm;
}
public static Point2D_F64 convertPixelToNorm( CameraPinhole intrinsic, double pixelX, double pixelY, @Nullable Point2D_F64 norm ) {
if (norm == null)
norm = new Point2D_F64();
double a11 = (double)(1.0/intrinsic.fx);
double a12 = (double)(-intrinsic.skew/(intrinsic.fx*intrinsic.fy));
double a13 = (double)((intrinsic.skew*intrinsic.cy - intrinsic.cx*intrinsic.fy)/(intrinsic.fx*intrinsic.fy));
double a22 = (double)(1.0/intrinsic.fy);
double a23 = (double)(-intrinsic.cy/intrinsic.fy);
norm.x = a11*pixelX + a12*pixelY + a13;
norm.y = a22*pixelY + a23;
return norm;
}
public static @Nullable Point2D_F64 renderPixel( Se3_F64 worldToCamera,
@Nullable DMatrixRMaj K, Point3D_F64 X,
@Nullable Point2D_F64 pixel ) {
DMatrixRMaj R = worldToCamera.R;
Vector3D_F64 T = worldToCamera.T;
// [R T]*X
double x = R.data[0]*X.x + R.data[1]*X.y + R.data[2]*X.z + T.x;
double y = R.data[3]*X.x + R.data[4]*X.y + R.data[5]*X.z + T.y;
double z = R.data[6]*X.x + R.data[7]*X.y + R.data[8]*X.z + T.z;
// see if it's behind the camera
if (z <= 0)
return null;
if (pixel == null)
pixel = new Point2D_F64();
pixel.setTo(x/z, y/z);
if (K == null)
return pixel;
// convert into pixel coordinates
return GeometryMath_F64.mult(K, pixel, pixel);
}
public static @Nullable Point2D_F64 renderPixel( Se3_F64 worldToCamera,
double fx, double skew, double cx, double fy, double cy,
Point3D_F64 X, @Nullable Point2D_F64 pixel ) {
var X_cam = new Point3D_F64();
SePointOps_F64.transform(worldToCamera, X, X_cam);
// see if it's behind the camera
if (X_cam.z <= 0)
return null;
if (pixel == null)
pixel = new Point2D_F64();
double xx = X_cam.x/X_cam.z;
double yy = X_cam.y/X_cam.z;
pixel.x = fx*xx + skew*yy + cx;
pixel.y = fy*yy + cy;
return pixel;
}
public static Point3D_F64 renderPointing( Se3_F64 worldToCamera,
double fx, double skew, double cx, double fy, double cy,
Point3D_F64 X, @Nullable Point3D_F64 pixel ) {
var X_cam = new Point3D_F64();
SePointOps_F64.transform(worldToCamera, X, X_cam);
if (pixel == null)
pixel = new Point3D_F64();
// Make sure the norm of the point is 1 to avoid numerical issues
double n = X_cam.norm();
double xx = X_cam.x/n;
double yy = X_cam.y/n;
double zz = X_cam.z/n;
pixel.x = fx*xx + skew*yy + cx*zz;
pixel.y = fy*yy + cy*zz;
pixel.z = zz;
return pixel;
}
public static @Nullable Point2D_F64 renderPixel( Se3_F64 worldToCamera,
double fx, double skew, double cx, double fy, double cy,
Point4D_F64 X, @Nullable Point2D_F64 pixel ) {
DMatrixRMaj R = worldToCamera.R;
Vector3D_F64 T = worldToCamera.T;
// [R T]*X
double x = R.data[0]*X.x + R.data[1]*X.y + R.data[2]*X.z + T.x*X.w;
double y = R.data[3]*X.x + R.data[4]*X.y + R.data[5]*X.z + T.y*X.w;
double z = R.data[6]*X.x + R.data[7]*X.y + R.data[8]*X.z + T.z*X.w;
// see if it's behind the camera
if (z <= 0)
return null;
if (pixel == null)
pixel = new Point2D_F64();
double xx = x/z;
double yy = y/z;
pixel.x = fx*xx + skew*yy + cx;
pixel.y = fy*yy + cy;
return pixel;
}
public static void renderPixel( DMatrixRMaj worldToCamera, Point3D_F64 X, Point3D_F64 pixelH ) {
DMatrixRMaj P = worldToCamera;
pixelH.x = P.data[0]*X.x + P.data[1]*X.y + P.data[2]*X.z + P.data[3];
pixelH.y = P.data[4]*X.x + P.data[5]*X.y + P.data[6]*X.z + P.data[7];
pixelH.z = P.data[8]*X.x + P.data[9]*X.y + P.data[10]*X.z + P.data[11];
}
public static void renderPixel( DMatrixRMaj worldToCamera, Point3D_F64 X, Point2D_F64 pixel ) {
DMatrixRMaj P = worldToCamera;
double x = P.data[0]*X.x + P.data[1]*X.y + P.data[2]*X.z + P.data[3];
double y = P.data[4]*X.x + P.data[5]*X.y + P.data[6]*X.z + P.data[7];
double z = P.data[8]*X.x + P.data[9]*X.y + P.data[10]*X.z + P.data[11];
pixel.x = x/z;
pixel.y = y/z;
}
public static void renderPixel( DMatrixRMaj cameraMatrix, Point4D_F64 X, Point3D_F64 pixelH ) {
DMatrixRMaj P = cameraMatrix;
// @formatter:off
pixelH.x = P.data[0]*X.x + P.data[1]*X.y + P.data[2 ]*X.z + P.data[3 ]*X.w;
pixelH.y = P.data[4]*X.x + P.data[5]*X.y + P.data[6 ]*X.z + P.data[7 ]*X.w;
pixelH.z = P.data[8]*X.x + P.data[9]*X.y + P.data[10]*X.z + P.data[11]*X.w;
// @formatter:on
}
public static void renderPixel( DMatrixRMaj cameraMatrix, Point4D_F64 X, Point2D_F64 pixel ) {
DMatrixRMaj P = cameraMatrix;
double x = P.data[0]*X.x + P.data[1]*X.y + P.data[2]*X.z + P.data[3]*X.w;
double y = P.data[4]*X.x + P.data[5]*X.y + P.data[6]*X.z + P.data[7]*X.w;
double z = P.data[8]*X.x + P.data[9]*X.y + P.data[10]*X.z + P.data[11]*X.w;
pixel.x = x/z;
pixel.y = y/z;
}
public static double distance3DvsH( Point3D_F64 a, Point4D_F64 b, double tol ) {
// convert the homogenous point into a 3D point.
double x = b.x;
double y = b.y;
double z = b.z;
double r = Math.sqrt(x*x + y*y + z*z);
// See if the homogenous point is at infinity, within tolerance
if (r*tol > Math.abs(b.w)) {
return Double.POSITIVE_INFINITY;
}
// Finish the conversion to 3D
x /= b.w;
y /= b.w;
z /= b.w;
return a.distance(x, y, z);
}
public static double distance( Point4D_F64 a, Point4D_F64 b ) {
double na = a.norm();
double nb = b.norm();
if (na == 0.0 || nb == 0.0)
return a.distance(b);
// take in account sign ambiguity
return Math.sqrt(Math.min(distance(a, b, na, nb), distance(a, b, -na, nb)));
}
public static double distance( Point4D_F64 a, Point4D_F64 b, double na, double nb ) {
double xa = a.x/na;
double ya = a.y/na;
double za = a.z/na;
double wa = a.w/na;
double xb = b.x/nb;
double yb = b.y/nb;
double zb = b.z/nb;
double wb = b.w/nb;
double dx = xa - xb;
double dy = ya - yb;
double dz = za - zb;
double dw = wa - wb;
return dx*dx + dy*dy + dz*dz + dw*dw;
}
public static DMatrixRMaj createCameraMatrix( DMatrixRMaj R, Vector3D_F64 T,
@Nullable DMatrixRMaj K,
@Nullable DMatrixRMaj ret ) {
if (ret == null)
ret = new DMatrixRMaj(3, 4);
CommonOps_DDRM.insert(R, ret, 0, 0);
ret.data[3] = T.x;
ret.data[7] = T.y;
ret.data[11] = T.z;
if (K == null)
return ret;
DMatrixRMaj temp = new DMatrixRMaj(3, 4);
CommonOps_DDRM.mult(K, ret, temp);
ret.setTo(temp);
return ret;
}
}