Rectification Class Reference

Maps image coordinates from an input image to image coordinates on a rectified camera. More...

Public Member Functions
const CameraIntrinsicsParameters &	getInputCameraParameters () const
const Eigen::Matrix3d &	getRectificationRotation () const
const CameraIntrinsicsParameters &	getRectifiedCameraParameters () const
Rectification *	makeCopy () const
	Rectification (const CameraIntrinsicsParameters &input_camera_params)
	Rectification (const CameraIntrinsicsParameters &input_camera_params, const Eigen::Matrix3d &rotation, const CameraIntrinsicsParameters &rectified_camera_params)
void	rectifyBilinearLookup (const Eigen::Vector2d &dist_uv, Eigen::Vector2d *rect_uv) const
void	rectifyLookup (int dist_u, int dist_v, Eigen::Vector2d *rect_uv) const
void	rectifyLookupByIndex (int pixel_index, Eigen::Vector2d *rect_uv) const

Detailed Description

Maps image coordinates from an input image to image coordinates on a rectified camera.

A Rectification object represents the computation required to map pixels from an input camera to pixels on a "rectified" virtual camera that shares the same focal point, but may be rotated and have different projection parameters (e.g., focal length, center of projection, etc.)

This class is primary useful with stereo cameras to rectify pixels on both input cameras to rectified cameras that share an image plane and look/up vectors. It can also be used for simple undistortion (e.g., no rotation, and a rectified camera that has the same projection parameters as the input camera, but with no distortion).

For fast rectification, the Rectification object precomputes a mapping from (u, v) image pixel coordinates to u', v' rectified image pixel coordinates. The exact transformation from (u, v) to (u', v') is:

1. undistort according to a plumb-bob distortion model
2. rotate points about the origin
3. reproject onto a rectified image plane.

Rectification of pixels is done by bilinear interpolation on this precomputed mapping.

Constructor & Destructor Documentation

Rectification

(

const CameraIntrinsicsParameters &

input_camera_params

)

Convenience constructor to create a Rectification object that simply undistorts. The rotation is set to identity, and the rectified camera parameters are identical to the input camera parameters, but have no distortion.

Rectification	(	const CameraIntrinsicsParameters &	input_camera_params,
		const Eigen::Matrix3d &	rotation,
		const CameraIntrinsicsParameters &	rectified_camera_params
	)

Constructor. The rectified_camera_params are not allowed to have any distortion.

Member Function Documentation

const CameraIntrinsicsParameters& getInputCameraParameters ( ) const

inline

Returns

the intrisic parameters of the input camera.

const Eigen::Matrix3d& getRectificationRotation ( ) const

inline

Returns

the rotation to apply between the undistorted input camera frame and the output rectified camera frame.

const CameraIntrinsicsParameters& getRectifiedCameraParameters ( ) const

inline

Returns

the projection parameters of the rectified camera. The distortion coefficients will always be zero. Note that the focal length and image dimensions of the rectified camera do not have to match those of the input camera.

void rectifyLookup ( int  dist_u, int  dist_v, Eigen::Vector2d *  rect_uv  ) const

inline

Computes the undistorted image coordinates of the input distorted coordinates (dist_u, dist_v).

Parameters

dist_u	input distorted pixel u/x coordinate.
dist_v	input distorted pixel v/y coordinate.
rect_uv	output parameter.

void rectifyLookupByIndex ( int  pixel_index, Eigen::Vector2d *  rect_uv  ) const

inline

Computes the undistorted image coordinates of an input pixel specified by its row-major pixel index.

Parameters

pixel_index	corresponds to
rect_uv	output parameter.

See also

rectifyLookup

void rectifyBilinearLookup ( const Eigen::Vector2d &  dist_uv, Eigen::Vector2d *  rect_uv  ) const

inline

Computes the undistorted image coordinates of an input pixel via bilinear interpolation of its integer-coordinate 4-neighboors.

Parameters

dist_uv	input distorted pixel coordinates.
rect_uv	output parameter.

Rectification* makeCopy

(

)

const

Returns

a deep copy of this object.

---

The documentation for this class was generated from the following file:

• rectification.hpp