boofcv.alg.distort.radtan.RemoveRadialNtoN_F64 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_F64;
import georegression.struct.point.Point2D_F64;

/**
 * Converts the observed distorted normalized image coordinates into undistorted normalized image coordinates.
 *
 * @author Peter Abeles
 */
public class RemoveRadialNtoN_F64 implements PointTransform_F64 {

	// distortion parameters
	protected RadialTangential_F64 params;

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

	private double tol=1e-10;

	public RemoveRadialNtoN_F64() {
	}

	public RemoveRadialNtoN_F64(double tol) {
		this.tol = tol;
	}

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

	public RemoveRadialNtoN_F64 setDistortion( double[] radial, double t1, double t2 ) {
		params = new RadialTangential_F64(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(double x, double y, Point2D_F64 out)
	{
		double radial[] = params.radial;
		double t1 = params.t1,t2 = params.t2;

		double origX = x;
		double origY = y;

		double prevSum = 0;

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

			// estimate the radial distance
			double r2 = x*x + y*y;
			double 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);
	}
}