boofcv.alg.distort.pinhole.PinholePtoN_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) 2011-2016, 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.pinhole;

import boofcv.struct.distort.Point2Transform2_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 PinholePtoN_F32 implements Point2Transform2_F32 {

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

	public void set(/**/double fx, /**/double fy, /**/double skew, /**/double cx, /**/double cy ) {

		K_inv.set(0,0,fx);
		K_inv.set(1,1,fy);
		K_inv.set(0,1,skew);
		K_inv.set(0,2,cx);
		K_inv.set(1,2,cy);
		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);
	}
}