boofcv.alg.distort.spherical.EquirectangularToCylinder_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) 2011-2016, 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.spherical;

import georegression.misc.GrlConstants;

/**
 * Renders a cylindrical view from an equirectangular image.  With zero rotation applied to it the image center
 * has the pointing vector = (1,0,0).
 *
 *  * r = atan(vfov/2) // implicit cylinder radius of 1
 * theta = 2*PI*pixelX/width - PI
 *
 * x = cos(theta)
 * y = sin(theta)
 * z = 2*r*pixelY/(height - 1) - r
 * 
 *
 * @author Peter Abeles
 */
public class EquirectangularToCylinder_F64 extends EquirectangularDistortBase_F64 {

	/**
	 * Configures the rendered cylinder
	 *
	 * @param width Cylinder width in pixels
	 * @param height Cylinder height in pixels
	 * @param vfov vertical FOV in radians
	 */
	public void configure( int width , int height , double vfov ) {
		declareVectors( width, height );

		double r = Math.tan(vfov/2.0);

		for (int pixelY = 0; pixelY < height; pixelY++) {
			double z = 2*r*pixelY/(height-1) - r;
			for (int pixelX = 0; pixelX < width; pixelX++) {
				double theta = GrlConstants.PI2*pixelX/width - GrlConstants.PI;
				double x = Math.cos(theta);
				double y = Math.sin(theta);

				vectors[pixelY*width+pixelX].set(x,y,z);
			}
		}
	}
}