boofcv.alg.distort.spherical.EquirectangularDistortBase_F64 Maven / Gradle / Ivy

Go to download
Show more of this group Show more artifacts with this name
Show all versions of boofcv-geo Show documentation
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.spherical;

import boofcv.struct.distort.PixelTransform;
import georegression.geometry.ConvertRotation3D_F64;
import georegression.geometry.GeometryMath_F64;
import georegression.struct.EulerType;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.point.Vector3D_F64;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.CommonOps_DDRM;

/**
 * Base class for all distortions from an equirectangular image. The output image precomputes pointing vectors from
 * a canonical view. The source pixel is then computed by rotating each vector and computing the longitude and
 * latitude.
 *
 * @author Peter Abeles
 */
public abstract class EquirectangularDistortBase_F64 implements PixelTransform {
	// function for doing match on equirectangular images
	EquirectangularTools_F64 tools = new EquirectangularTools_F64();

	int outWidth;

	// rotation matrix
	DMatrixRMaj R = CommonOps_DDRM.identity(3, 3);

	// storage for intermediate variables
	Vector3D_F64 n = new Vector3D_F64();

	// storage for precomputed pointing vectors for each pixel in pinhole camera
	Point3D_F64[] vectors = new Point3D_F64[0];

	/**
	 * Specify the shame of the equirectangular image
	 *
	 * @param width equirectangular image width
	 * @param height equirectangular image height
	 */
	public void setEquirectangularShape( int width, int height ) {
		tools.configure(width, height);
	}

	/**
	 * Set for concurrent code. Doesn't copy expensive model variables
	 */
	public void setConcurrent( EquirectangularDistortBase_F64 original ) {
		this.outWidth = original.outWidth;
		this.R.setTo(original.R);
		this.n.setTo(original.n);
		this.tools = original.tools;
		this.vectors = original.vectors;
	}

	/**
	 * Specifies the rotation offset from the canonical location using yaw and pitch.
	 *
	 * @param yaw Radian from -pi to pi
	 * @param pitch Radian from -pi/2 to pi/2
	 * @param roll Radian from -pi to pi
	 */
	public void setDirection( double yaw, double pitch, double roll ) {
		ConvertRotation3D_F64.eulerToMatrix(EulerType.YZX, pitch, yaw, roll, R);
	}

	/**
	 * Specifies direction using a rotation matrix
	 *
	 * @param R rotation matrix
	 */
	public void setDirection( DMatrixRMaj R ) {
		this.R.setTo(R);
	}

	/**
	 * Declares storage for precomputed pointing vectors to output image
	 *
	 * @param width output image width
	 * @param height output image height
	 */
	protected void declareVectors( int width, int height ) {
		this.outWidth = width;

		if (vectors.length < width*height) {
			Point3D_F64[] tmp = new Point3D_F64[width*height];

			System.arraycopy(vectors, 0, tmp, 0, vectors.length);
			for (int i = vectors.length; i < tmp.length; i++) {
				tmp[i] = new Point3D_F64();
			}
			vectors = tmp;
		}
	}

	/**
	 * Input is in pinhole camera pixel coordinates. Output is in equirectangular coordinates
	 *
	 * @param x Pixel x-coordinate in rendered pinhole camera
	 * @param y Pixel y-coordinate in rendered pinhole camera
	 */
	@Override
	public void compute( int x, int y, Point2D_F64 out ) {
		// grab precomputed normalized image coordinate at canonical location
		Point3D_F64 v = vectors[y*outWidth + x];
		// move to requested orientation
		GeometryMath_F64.mult(R, v, n); // TODO make faster by not using an array based matrix

		// compute pixel coordinate
		tools.normToEquiFV(n.x, n.y, n.z, out);
	}

	public EquirectangularTools_F64 getTools() {
		return tools;
	}

	public DMatrixRMaj getRotation() {
		return R;
	}
}