public PinholeToPlaneProjection(Point2D focalLength,
Point2D principalPoint,
DistortionParameters distortionParameters,
Vector3D translationVector,
Matrix3X3 rotationMatrix)
{
imageCoordinateNormalizer = new ImageCoordinateNormalizer(focalLength, principalPoint, distortionParameters);
var imagePlane3D = new Plane(
new Point3D(0, 0, 0),
new Vector3D(1, 0, 0),
new Vector3D(0, 1, 0));
imagePlaneEmbeddingTransform = new Embed2DIn3DTransform(imagePlane3D);
var planeVector1 = new Vector3D(rotationMatrix.Data
.Multiply(new double[] { 1, 0, 0 }.ConvertToMatrix())
.Vectorize());
var planeVector2 = new Vector3D(rotationMatrix.Data
.Multiply(new double[] { 0, 1, 0 }.ConvertToMatrix())
.Vectorize());
var plane = new Plane(translationVector.ToPoint3D(),
planeVector1,
planeVector2);
planeEmbeddingTransform = new Embed2DIn3DTransform(plane);
var pinHoleProjectionPoint = new Point3D(0, 0, -1);
planeProjection = new PlaneProjection(pinHoleProjectionPoint, plane);
imagePlaneProjection = new PlaneProjection(pinHoleProjectionPoint, imagePlane3D);
}
public ImageCoordinateNormalizer(Point2D focalLength, Point2D principalPoint, DistortionParameters distortionParameters)
{
this.focalLength = focalLength;
this.principalPoint = principalPoint;
this.distortionParameters = distortionParameters;
}