Package boofcv.alg.distort.spherical

Class EquirectangularDistortBase_F64

java.lang.Object

boofcv.alg.distort.spherical.EquirectangularDistortBase_F64

All Implemented Interfaces:

PixelTransform<Point2D_F64>

Direct Known Subclasses:

CameraToEquirectangular_F64, CylinderToEquirectangular_F64, EquirectangularRotate_F64

public abstract class EquirectangularDistortBase_F64
extends Object
implements PixelTransform<Point2D_F64>

Base class for all distortions from an equirectangular image. The output image precomputes pointing vectors from a canonical view. The source pixel is then computed by rotating each vector and computing the longitude and latitude.

Constructor Summary

Constructors

Constructor	Description
EquirectangularDistortBase_F64()

Method Summary

Modifier and Type	Method	Description
void	compute(int x, int y, Point2D_F64 out)	Input is in pinhole camera pixel coordinates.
protected void	declareVectors(int width, int height)	Declares storage for precomputed pointing vectors to output image
DMatrixRMaj	getRotation()
EquirectangularTools_F64	getTools()
void	setConcurrent(EquirectangularDistortBase_F64 original)	Set for concurrent code.
void	setDirection(double yaw, double pitch, double roll)	Specifies the rotation offset from the canonical location using yaw and pitch.
void	setDirection(DMatrixRMaj R)	Specifies direction using a rotation matrix
void	setEquirectangularShape(int width, int height)	Specify the shame of the equirectangular image

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface boofcv.struct.distort.PixelTransform

copyConcurrent

Constructor Details

EquirectangularDistortBase_F64

public EquirectangularDistortBase_F64()

Method Details

setEquirectangularShape

public void setEquirectangularShape(int width,
 int height)

Specify the shame of the equirectangular image

Parameters:

width - equirectangular image width

height - equirectangular image height

setConcurrent

public void setConcurrent(EquirectangularDistortBase_F64 original)

Set for concurrent code. Doesn't copy expensive model variables

setDirection

public void setDirection(double yaw,
 double pitch,
 double roll)

Specifies the rotation offset from the canonical location using yaw and pitch.

Parameters:

yaw - Radian from -pi to pi

pitch - Radian from -pi/2 to pi/2

roll - Radian from -pi to pi

setDirection

public void setDirection(DMatrixRMaj R)

Specifies direction using a rotation matrix

Parameters:

R - rotation matrix

declareVectors

protected void declareVectors(int width,
 int height)

Declares storage for precomputed pointing vectors to output image

Parameters:

width - output image width

height - output image height

compute

public void compute(int x,
 int y,
 Point2D_F64 out)

Input is in pinhole camera pixel coordinates. Output is in equirectangular coordinates

Specified by:

compute in interface PixelTransform<Point2D_F64>

Parameters:

x - Pixel x-coordinate in rendered pinhole camera

y - Pixel y-coordinate in rendered pinhole camera

out - The transformed pixel

getTools

public EquirectangularTools_F64 getTools()

getRotation

public DMatrixRMaj getRotation()