RemoveRadialPtoN_F32.java

/*
 * 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.geometry.GeometryMath_F32;
import georegression.misc.GrlConstants;
import georegression.struct.point.Point2D_F32;
import org.ejml.data.DenseMatrix64F;
import org.ejml.ops.CommonOps;

import static boofcv.alg.distort.radtan.RemoveRadialNtoN_F32.removeRadial;

/**
 * Converts the observed distorted pixels into normalized image coordinates.
 *
 * @author Peter Abeles
 */
public class RemoveRadialPtoN_F32 implements Point2Transform2_F32 {

	// principle point / image center
	protected float cx, cy;
	// other intrinsic parameters
	protected float fx,fy,skew;

	// distortion parameters
	protected RadialTangential_F32 params;

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

	private float tol = GrlConstants.FCONV_TOL_A;

	public RemoveRadialPtoN_F32() {
	}

	public RemoveRadialPtoN_F32( float tol ) {
		this.tol = tol;
	}

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

	/**
	 * Specify camera calibration parameters
	 *
	 * @param fx Focal length x-axis in pixels
	 * @param fy Focal length y-axis in pixels
	 * @param skew skew in pixels
	 * @param cx camera center x-axis in pixels
	 * @param cy center center y-axis in pixels
	 */
	public RemoveRadialPtoN_F32 setK( /**/double fx, /**/double fy, /**/double skew, /**/double cx, /**/double cy ) {

		this.fx = (float)fx;
		this.fy = (float)fy;
		this.skew = (float)skew;
		this.cx = (float)cx;
		this.cy = (float)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);

		return this;
	}

	public RemoveRadialPtoN_F32 setDistortion( /**/double[] radial, /**/double t1, /**/double t2 ) {
		params = new RadialTangential_F32(radial,t1,t2);
		return this;
	}

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

		// initial estimate of undistorted point
		GeometryMath_F32.mult(K_inv, out, out);

		removeRadial(out.x, out.y, params.radial, params.t1, params.t2, out, tol );
	}
}