boofcv.alg.distort.PixelToNormalized_F32 Maven / Gradle / Ivy

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BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 0.26

/*
 * Copyright (c) 2011-2013, 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.PointTransform_F32;
import georegression.geometry.GeometryMath_F32;
import georegression.struct.point.Point2D_F32;
import org.ejml.data.DenseMatrix64F;
import org.ejml.ops.CommonOps;

/**
 * Converts an image pixel coordinate into a normalized pixel coordinate using the
 * camera's intrinsic parameters.  Lens distortion must have already been removed.
 *
 * @author Peter Abeles
 */
public class PixelToNormalized_F32 implements PointTransform_F32 {

	// inverse of camera calibration matrix
	protected DenseMatrix64F K_inv = new DenseMatrix64F(3,3);

	public void set(double fx, double fy, double skew, double x_c, double y_c ) {

		K_inv.set(0,0,fx);
		K_inv.set(1,1,fy);
		K_inv.set(0,1,skew);
		K_inv.set(0,2,x_c);
		K_inv.set(1,2,y_c);
		K_inv.set(2,2,1);

		CommonOps.invert(K_inv);
	}


	@Override
	public void compute(float x, float y, Point2D_F32 out) {
		out.set(x,y);

		GeometryMath_F32.mult(K_inv, out, out);
	}
}