boofcv.alg.distort.radtan.AddRadialNtoN_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
Show all versions of geo Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* 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.radtan;
import boofcv.struct.distort.Point2Transform2_F32;
import georegression.struct.point.Point2D_F32;
/**
* Given an undistorted normalized pixel coordinate, compute the distorted normalized coordinate.
*
* @author Peter Abeles
*/
public class AddRadialNtoN_F32 implements Point2Transform2_F32 {
private RadialTangential_F32 params;
public AddRadialNtoN_F32() {
}
/**
* Specify intrinsic camera parameters
*
* @param radial Radial distortion parameters
*/
public AddRadialNtoN_F32 setDistortion( /**/double[] radial, /**/double t1, /**/double t2) {
params = new RadialTangential_F32(radial,t1,t2);
return this;
}
/**
* Adds radial distortion
*
* @param x Undistorted x-coordinate normalized image coordinates
* @param y Undistorted y-coordinate normalized image coordinates
* @param out Distorted normalized image coordinate.
*/
@Override
public void compute(float x, float y, Point2D_F32 out) {
float[] radial = params.radial;
float t1 = params.t1;
float t2 = params.t2;
float r2 = x*x + y*y;
float ri2 = r2;
float sum = 0;
for( int i = 0; i < radial.length; i++ ) {
sum += radial[i]*ri2;
ri2 *= r2;
}
out.x = x*( 1 + sum);
out.y = y*( 1 + sum);
out.x += 2*t1*x*y + t2*(r2 + 2*x*x);
out.y += t1*(r2 + 2*y*y) + 2*t2*x*y;
}
}