Add bindings to ImgFrame for the new transformations API #1160
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moratom
commented
Oct 30, 2024
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| std::array<std::array<float, 3>, 3> ImgTransformation::getIntrinsicMatrix() const { | ||
| return matmul(sourceIntrinsicMatrix, transformationMatrix); | ||
| } | ||
| std::array<std::array<float, 3>, 3> ImgTransformation::getIntrinsicMatrixInv() const { | ||
| return matmul(transformationMatrixInv, sourceIntrinsicMatrixInv); | ||
| } | ||
| float ImgTransformation::getDFov() const { | ||
| if(height <= 0) { | ||
| throw std::runtime_error(fmt::format("Height is invalid. Height: {}", height)); | ||
| } | ||
| if(width <= 0) { | ||
| throw std::runtime_error(fmt::format("Width is invalid. Width: {}", width)); | ||
| } | ||
| float HFovDegrees = getHFov(); | ||
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| // Calculate the diagonal ratio (DR) | ||
| float dr = std::sqrt(std::pow(width, 2) + std::pow(height, 2)); | ||
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| // Validate the horizontal FOV | ||
| if(HFovDegrees <= 0 || HFovDegrees >= 180) { | ||
| throw std::runtime_error(fmt::format("Horizontal FOV is invalid. Horizontal FOV: {}", HFovDegrees)); | ||
| } | ||
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| float HFovRadians = HFovDegrees * (static_cast<float>(M_PI) / 180.0f); | ||
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| // Calculate the tangent of half of the HFOV | ||
| float tanHFovHalf = std::tan(HFovRadians / 2); | ||
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| // Calculate the tangent of half of the VFOV | ||
| float tanDiagonalFovHalf = (dr / width) * tanHFovHalf; | ||
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| // Calculate the VFOV in radians | ||
| float diagonalFovRadians = 2 * std::atan(tanDiagonalFovHalf); | ||
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| // Convert VFOV to degrees | ||
| float diagonalFovDegrees = diagonalFovRadians * (180.0f / static_cast<float>(M_PI)); | ||
| return diagonalFovDegrees; | ||
| } | ||
| float ImgTransformation::getHFov() const { | ||
| float fx = getIntrinsicMatrix()[0][0]; | ||
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| // Calculate vertical FoV (in radians) | ||
| float horizontalFoV = 2 * atan(width / (2.0f * fx)); | ||
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| // Convert radians to degrees | ||
| return horizontalFoV * 180.0f / (float)M_PI; | ||
| } | ||
| float ImgTransformation::getVFov() const { | ||
| float fy = getIntrinsicMatrix()[1][1]; | ||
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| // Calculate vertical FoV (in radians) | ||
| float verticalFoV = 2 * atan(height / (2.0f * fy)); | ||
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| // Convert radians to degrees | ||
| return verticalFoV * 180.0f / (float)M_PI; | ||
| } |
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Let's also add implementations for source FOVs and then have ImgFrame just passthrough the calls to the ImgTransformations to have the functionality more centralized
…imgframe_bindings
moratom
commented
Nov 5, 2024
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| * remap the point. | ||
| * @param to Transformation to remap to | ||
| * @param point Point to remap | ||
| * @param normalized Set to true if the point is normalized | ||
| */ | ||
| dai::Point2f remapPointTo(const ImgTransformation& to, dai::Point2f point) const; | ||
| dai::Point2f remapPointTo(const ImgTransformation& to, dai::Point2f point, bool normalized = false) const; | ||
| /** | ||
| * Remap a point to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to | ||
| * remap the point. | ||
| * @param from Transformation to remap from | ||
| * @param point Point to remap | ||
| * @param normalized Set to true if the point is normalized | ||
| */ | ||
| dai::Point2f remapPointFrom(const ImgTransformation& from, dai::Point2f point) const; | ||
| dai::Point2f remapPointFrom(const ImgTransformation& from, dai::Point2f point, bool normalized = false) const; | ||
| /** | ||
| * Remap a rotated rect from this transformation to another. If the intrinsics are different (e.g. different camera), the function will also use the | ||
| * intrinsics to remap the rect. | ||
| * @param to Transformation to remap to | ||
| * @param rect RotatedRect to remap | ||
| * @param normalized Set to true if the rect is normalized | ||
| */ | ||
| dai::RotatedRect remapRectTo(const ImgTransformation& to, dai::RotatedRect rect) const; | ||
| dai::RotatedRect remapRectTo(const ImgTransformation& to, dai::RotatedRect rect, bool normalized = false) const; | ||
| /** | ||
| * Remap a rotated rect to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the | ||
| * intrinsics to remap the rect. | ||
| * @param from Transformation to remap from | ||
| * @param point RotatedRect to remap | ||
| * @param normalized Set to true if the rect is normalized | ||
| */ | ||
| dai::RotatedRect remapRectFrom(const ImgTransformation& from, dai::RotatedRect rect) const; | ||
| dai::RotatedRect remapRectFrom(const ImgTransformation& from, dai::RotatedRect rect, bool normalized = false) const; | ||
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| /** | ||
| * Check if the transformations are valid. The transformations are valid if the source frame size and the current frame size are set. |
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I would add the normalized flag to dai::RotatedRect instead
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or is there a specific reason to keep to not add it?
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