/**
* Transforms the view such that the entire original image is visible after lens distortion has
* been removed. The appropriate {@link PointTransform_F32} is returned and a new set of intrinsic
* camera parameters for the "virtual" camera that is associated with the returned transformed.
*
* <p>The original image coordinate system is maintained even if the intrinsic parameter flipY is
* true.
*
* @param param Intrinsic camera parameters.
* @param paramAdj If not null, the new camera parameters are stored here.
* @return New transform that adjusts the view and removes lens distortion..
*/
public static PointTransform_F32 fullView(
IntrinsicParameters param, IntrinsicParameters paramAdj) {
RemoveRadialPtoP_F32 removeDistort = new RemoveRadialPtoP_F32();
AddRadialPtoP_F32 addDistort = new AddRadialPtoP_F32();
removeDistort.set(param.fx, param.fy, param.skew, param.cx, param.cy, param.radial);
addDistort.set(param.fx, param.fy, param.skew, param.cx, param.cy, param.radial);
Rectangle2D_F32 bound =
DistortImageOps.boundBox_F32(
param.width, param.height, new PointToPixelTransform_F32(removeDistort));
double scaleX = bound.width / param.width;
double scaleY = bound.height / param.height;
double scale = Math.max(scaleX, scaleY);
// translation
double deltaX = bound.tl_x;
double deltaY = bound.tl_y;
// adjustment matrix
DenseMatrix64F A = new DenseMatrix64F(3, 3, true, scale, 0, deltaX, 0, scale, deltaY, 0, 0, 1);
PointTransform_F32 tranAdj =
PerspectiveOps.adjustIntrinsic_F32(addDistort, false, param, A, paramAdj);
if (param.flipY) {
PointTransform_F32 flip = new FlipVertical_F32(param.height);
return new SequencePointTransform_F32(flip, tranAdj, flip);
} else return tranAdj;
}
/**
* Adjusts the view such that each pixel has a correspondence to the original image while
* maximizing the view area. In other words no black regions which can cause problems for some
* image processing algorithms.
*
* <p>The original image coordinate system is maintained even if the intrinsic parameter flipY is
* true.
*
* @param param Intrinsic camera parameters.
* @param paramAdj If not null, the new camera parameters are stored here.
* @return New transform that adjusts the view and removes lens distortion..
*/
public static PointTransform_F32 allInside(
IntrinsicParameters param, IntrinsicParameters paramAdj) {
RemoveRadialPtoP_F32 removeDistort = new RemoveRadialPtoP_F32();
AddRadialPtoP_F32 addDistort = new AddRadialPtoP_F32();
removeDistort.set(param.fx, param.fy, param.skew, param.cx, param.cy, param.radial);
addDistort.set(param.fx, param.fy, param.skew, param.cx, param.cy, param.radial);
Rectangle2D_F32 bound =
LensDistortionOps.boundBoxInside(
param.width, param.height, new PointToPixelTransform_F32(removeDistort));
// ensure there are no strips of black
LensDistortionOps.roundInside(bound);
double scaleX = bound.width / param.width;
double scaleY = bound.height / param.height;
double scale = Math.min(scaleX, scaleY);
// translation and shift over so that the small axis is in the middle
double deltaX = bound.tl_x + (scaleX - scale) * param.width / 2.0;
double deltaY = bound.tl_y + (scaleY - scale) * param.height / 2.0;
// adjustment matrix
DenseMatrix64F A = new DenseMatrix64F(3, 3, true, scale, 0, deltaX, 0, scale, deltaY, 0, 0, 1);
PointTransform_F32 tranAdj =
PerspectiveOps.adjustIntrinsic_F32(addDistort, false, param, A, paramAdj);
if (param.flipY) {
PointTransform_F32 flip = new FlipVertical_F32(param.height);
return new SequencePointTransform_F32(flip, tranAdj, flip);
} else return tranAdj;
}
/**
* Transform from undistorted pixel coordinates to distorted with radial pixel coordinates
*
* <p>NOTE: The original image coordinate system is maintained even if the intrinsic parameter
* flipY is true.
*
* @param param Intrinsic camera parameters
* @return Transform from undistorted to distorted image.
*/
public static PointTransform_F32 transformPixelToRadial_F32(IntrinsicParameters param) {
AddRadialPtoP_F32 radialDistort = new AddRadialPtoP_F32();
radialDistort.set(param.fx, param.fy, param.skew, param.cx, param.cy, param.radial);
if (param.flipY) {
PointTransform_F32 flip = new FlipVertical_F32(param.height);
return new SequencePointTransform_F32(flip, radialDistort, flip);
} else {
return radialDistort;
}
}