boofcv.alg.distort.radtan.RemoveRadialNtoN_F32 Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of geo Show documentation

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

There is a newer version: 0.26

/*
 * Copyright (c) 2011-2015, 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.radtan;

import boofcv.struct.distort.PointTransform_F32;
import georegression.struct.point.Point2D_F32;

/**
 * Converts the observed distorted normalized image coordinates into undistorted normalized image coordinates.
 *
 * @author Peter Abeles
 */
public class RemoveRadialNtoN_F32 implements PointTransform_F32 {

	// distortion parameters
	protected RadialTangential_F32 params;

	// radial distortion magnitude
	protected float sum;
	// found tangential distortion
	protected float tx,ty;

	private float tol=1e-5f;

	public RemoveRadialNtoN_F32() {
	}

	public RemoveRadialNtoN_F32(float tol) {
		this.tol = tol;
	}

	public void setTolerance(float tol) {
		this.tol = tol;
	}

	public RemoveRadialNtoN_F32 setDistortion( float[] radial, float t1, float t2 ) {
		params = new RadialTangential_F32(radial,t1,t2);
		return this;
	}

	public RemoveRadialNtoN_F32 setDistortion( double[] radial, double t1, double t2 ) {
		params = new RadialTangential_F32().set(radial,t1,t2);
		return this;
	}

	/**
	 * Removes radial distortion
	 *
	 * @param x Distorted x-coordinate normalized image coordinate
	 * @param y Distorted y-coordinate normalized image coordinate
	 * @param out Undistorted normalized coordinate.
	 */
	@Override
	public void compute(float x, float y, Point2D_F32 out)
	{
		float radial[] = params.radial;
		float t1 = params.t1,t2 = params.t2;

		float origX = x;
		float origY = y;

		float prevSum = 0;

		for( int iter = 0; iter < 20; iter++ ) {

			// estimate the radial distance
			float r2 = x*x + y*y;
			float ri2 = r2;

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

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

			x = (origX - tx)/(1+sum);
			y = (origY - ty)/(1+sum);

			if( Math.abs(prevSum-sum) <= tol ) {
				break;
			} else {
				prevSum = sum;
			}
		}
		out.set(x,y);
	}
}