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BoofCV is an open source Java library for real-time computer vision and robotics applications.
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/*
 * Copyright (c) 2023, 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.brown;

import javax.annotation.Generated;
import boofcv.struct.distort.Point2Transform2_F32;
import georegression.struct.point.Point2D_F32;
import org.jetbrains.annotations.Nullable;

/**
 * Given an undistorted pixel coordinate, compute the distorted normalized image coordinate.
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
@Generated("boofcv.alg.distort.brown.AddBrownPtoN_F64")
public class AddBrownPtoN_F32 implements Point2Transform2_F32 {

	// distortion parameters
	protected RadialTangential_F32 params;

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

	public AddBrownPtoN_F32() {}

	/**
	 * Specify camera calibration parameters
	 *
	 * @param fx Focal length x-axis in pixels
	 * @param fy Focal length y-axis in pixels
	 * @param skew skew in pixels
	 * @param cx camera center x-axis in pixels
	 * @param cy center center y-axis in pixels
	 */
	public AddBrownPtoN_F32 setK( /**/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);

		return this;
	}

	/**
	 * Specify intrinsic camera parameters
	 *
	 * @param radial Radial distortion parameters
	 */
	public AddBrownPtoN_F32 setDistortion( @Nullable /**/double[] radial, /**/double t1, /**/double t2 ) {
		params = new RadialTangential_F32(radial, t1, t2);
		return this;
	}

	/**
	 * Adds radial distortion
	 *
	 * @param x Undistorted x-coordinate pixel
	 * @param y Undistorted y-coordinate pixel
	 * @param out Distorted pixel coordinate.
	 */
	@Override public void compute( float x, float y, Point2D_F32 out ) {
		float sum = 0;

		float radial[] = params.radial;
		float t1 = params.t1, t2 = params.t2;

		// out is undistorted normalized image coordinate
		out.x = a11*x + a12*y + a13;
		out.y = a22*y + a23;

		float r2 = out.x*out.x + out.y*out.y;
		float ri2 = r2;

		for (int i = 0; i < radial.length; i++) {
			sum += radial[i]*ri2;
			ri2 *= r2;
		}

		float tx = 2*t1*out.x*out.y + t2*(r2 + 2*out.x*out.x);
		float ty = t1*(r2 + 2*out.y*out.y) + 2*t2*out.x*out.y;

		// now compute the distorted normalized image coordinate
		out.x = out.x*(1 + sum) + tx;
		out.y = out.y*(1 + sum) + ty;
	}

	@Override public AddBrownPtoN_F32 copyConcurrent() {
		var ret = new AddBrownPtoN_F32();
		ret.a11 = a11;
		ret.a12 = a12;
		ret.a13 = a13;
		ret.a22 = a22;
		ret.a23 = a23;
		ret.params = new RadialTangential_F32(params);
		return ret;
	}
}