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BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 1.1.7
/*
 * 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;

import boofcv.struct.distort.Point2Transform2_F64;
import boofcv.struct.distort.Point3Transform2_F64;
import georegression.geometry.GeometryMath_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.CommonOps_DDRM;

/**
 * Projects a synthetic view of a narrow FOV camera from a wide FOV camera. The synthetic camera
 * can be rotated.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class NarrowToWidePtoP_F64 implements Point2Transform2_F64 {

	// rotation matrix
	DMatrixRMaj rotateWideToNarrow = CommonOps_DDRM.identity(3, 3);
	Point2Transform2_F64 narrowToNorm;
	Point3Transform2_F64 unitToWide;

	// normalized pixel coordinate storage
	Point2D_F64 norm = new Point2D_F64();
	// unit circle coordinate storage
	Point3D_F64 unit = new Point3D_F64();

	public NarrowToWidePtoP_F64() {}

	public NarrowToWidePtoP_F64( LensDistortionNarrowFOV narrow, LensDistortionWideFOV wide ) {
		configure(narrow, wide);
	}

	public void configure( LensDistortionNarrowFOV narrow, LensDistortionWideFOV wide ) {
		narrowToNorm = narrow.undistort_F64(true, false);
		unitToWide = wide.distortStoP_F64();
	}

	/**
	 * Specifies rotation matrix which determines the pointing direction of the camera
	 *
	 * @param R rotation matrix
	 */
	public void setRotationWideToNarrow( DMatrixRMaj R ) {
		this.rotateWideToNarrow.setTo(R);
	}

	/**
	 * Apply the transformation
	 *
	 * @param x x-coordinate of point in pixels. Synthetic narrow FOV camera
	 * @param y y-coordinate of point in pixels. Synthetic narrow FOV camera
	 * @param out Pixel location of point in wide FOV camera.
	 */
	@Override
	public void compute( double x, double y, Point2D_F64 out ) {
		narrowToNorm.compute(x, y, norm);

		// Convert from 2D homogenous to 3D
		unit.setTo(norm.x, norm.y, 1.0);

		// Rotate then make it a unit vector
		GeometryMath_F64.mult(rotateWideToNarrow, unit, unit);
		double n = unit.norm();
		unit.x /= n;
		unit.y /= n;
		unit.z /= n;

		unitToWide.compute(unit.x, unit.y, unit.z, out);
	}

	@Override
	public Point2Transform2_F64 copyConcurrent() {
		NarrowToWidePtoP_F64 ret = new NarrowToWidePtoP_F64();
		ret.rotateWideToNarrow = this.rotateWideToNarrow.copy();
		ret.narrowToNorm = this.narrowToNorm.copyConcurrent();
		ret.unitToWide = this.unitToWide.copyConcurrent();
		return ret;
	}
}