boofcv.alg.distort.spherical

Class EquirectangularTools_F32

java.lang.Object

boofcv.alg.distort.spherical.EquirectangularTools_F32

public class EquirectangularTools_F32
extends java.lang.Object

Contains common operations for handling coordinates in an equirectangular image. On most globes, a positive latitude corresponds to the north pole, or up, and negative towards the south pole. Images have 0 on the top and increase downwards. To compensate for this the y-axis can be flipped. This is indicated by functions with FV (flip vertical) on the end of their name. Coordinate System:

• longtitude is along the x-axis and goes from -pi to pi
• latitude is along the y-axis and goes from -pi/2 to pi/2
• image center (width/2, (height-1)/2.0f) or (lat=0, lon=0) corresponds to a unit sphere of (1,0,0)
• unit sphere of (0,0,1) is pixel (width/2,0) and (0,0,-1) is (width/2,height-1)
• unit sphere of (0,1,0) is pixel (3*width/4,(height-1)/2) and (0,0,-1) is (width/4,(height-1)/2)

Coordinate System with y-flipped:

• longtitude is along the x-axis and goes from -pi to pi
• latitude is along the y-axis and goes from pi/2 to -pi/2
• image center (width/2, height/2) or (lat=0, lon=0) corresponds to a unit sphere of (1,0,0)
• unit sphere of (0,0,1) is pixel (width/2,height-1) and (0,0,-1) is (width/2,0)
• unit sphere of (0,1,0) is pixel (3*width/4,(height-1)/2) and (0,0,-1) is (width/4,(height-1)/2)

Constructor Summary

Constructors

Constructor and Description
EquirectangularTools_F32()

Method Summary

Modifier and Type	Method and Description
void	configure(int width, int height) Specifies the image and which latitude/longtiude will comprise the center axises
void	equiToLonlat(float x, float y, georegression.struct.point.Point2D_F32 lonlat) Converts the equirectangular coordinate into a latitude and longitude
void	equiToLonlatFV(float x, float y, georegression.struct.point.Point2D_F32 lonlat) Converts the equirectangular coordinate into a latitude and longitude.
void	equiToNorm(float x, float y, georegression.struct.point.Point3D_F32 norm) Converts equirectangular into normalized pointing vector
void	equiToNormFV(float x, float y, georegression.struct.point.Point3D_F32 norm)
void	lonlatToEqui(float lon, float lat, georegression.struct.point.Point2D_F32 rect) Convert from latitude-longitude coordinates into equirectangular coordinates
void	lonlatToEquiFV(float lon, float lat, georegression.struct.point.Point2D_F32 rect) Convert from latitude-longitude coordinates into equirectangular coordinates.
void	normToEqui(float nx, float ny, float nz, georegression.struct.point.Point2D_F32 rect)
void	normToEquiFV(float nx, float ny, float nz, georegression.struct.point.Point2D_F32 rect)

Methods inherited from class java.lang.Object

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

Constructor Detail

EquirectangularTools_F32

public EquirectangularTools_F32()

Method Detail

configure

public void configure(int width,
                      int height)

Specifies the image and which latitude/longtiude will comprise the center axises

Parameters:

width - Image width

height - Image height

equiToNorm

public void equiToNorm(float x,
                       float y,
                       georegression.struct.point.Point3D_F32 norm)

Converts equirectangular into normalized pointing vector

Parameters:

x - pixel coordinate in equirectangular image

y - pixel coordinate in equirectangular image

norm - Normalized pointing vector

normToEqui

public void normToEqui(float nx,
                       float ny,
                       float nz,
                       georegression.struct.point.Point2D_F32 rect)

equiToNormFV

public void equiToNormFV(float x,
                         float y,
                         georegression.struct.point.Point3D_F32 norm)

normToEquiFV

public void normToEquiFV(float nx,
                         float ny,
                         float nz,
                         georegression.struct.point.Point2D_F32 rect)

equiToLonlat

public void equiToLonlat(float x,
                         float y,
                         georegression.struct.point.Point2D_F32 lonlat)

Converts the equirectangular coordinate into a latitude and longitude

Parameters:

x - pixel coordinate in equirectangular image

y - pixel coordinate in equirectangular image

lonlat - (output) x = longitude, y = latitude

equiToLonlatFV

public void equiToLonlatFV(float x,
                           float y,
                           georegression.struct.point.Point2D_F32 lonlat)

Converts the equirectangular coordinate into a latitude and longitude. Vertical equirectangular axis has been flipped

y' = height - y - 1

Parameters:

x - pixel coordinate in equirectangular image

y - pixel coordinate in equirectangular image

lonlat - (output) x = longitude, y = latitude

lonlatToEqui

public void lonlatToEqui(float lon,
                         float lat,
                         georegression.struct.point.Point2D_F32 rect)

Convert from latitude-longitude coordinates into equirectangular coordinates

Parameters:

lon - Longitude

lat - Latitude

rect - (Output) equirectangular coordinate

lonlatToEquiFV

public void lonlatToEquiFV(float lon,
                           float lat,
                           georegression.struct.point.Point2D_F32 rect)

Convert from latitude-longitude coordinates into equirectangular coordinates. Vertical equirectangular axis has been flipped

Parameters:

lon - Longitude

lat - Latitude

rect - (Output) equirectangular coordinate