Package boofcv.alg.geo

Class RectifyDistortImageOps

java.lang.Object

boofcv.alg.geo.RectifyDistortImageOps

public class RectifyDistortImageOps
extends Object

Operations related to rectifying stereo image pairs. Provides functions for 1) creating rectification calculation algorithms, 2) rectification transforms, and 3) image distortion for rectification.

Definition of transformed coordinate systems:

Pixel

Original image coordinates in pixels.

Rect

Rectified image coordinates in pixels. Lens distortion has been removed.

RectNorm

Rectified image coordinates in normalized coordinates.

Constructor Summary

Constructors

Constructor	Description
RectifyDistortImageOps()

Method Summary

Modifier and Type	Method	Description
static void	applyMask(GrayF32 disparity, GrayU8 mask, int radius)	Applies a mask which indicates which pixels had mappings to the unrectified image.
static void	applyMask(GrayU8 disparity, GrayU8 mask, int radius)	Applies a mask which indicates which pixels had mappings to the unrectified image.
static <T extends ImageBase<T>> ImageDistort<T,T>	rectifyImage(CameraPinholeBrown param, FMatrixRMaj rectify, BorderType borderType, ImageType<T> imageType)	Creates an ImageDistort for rectifying an image given its radial distortion and rectification matrix.
static <T extends ImageGray<T>> ImageDistort<T,T>	rectifyImage(FMatrixRMaj rectify, BorderType borderType, Class<T> imageType)	Creates an ImageDistort for rectifying an image given its rectification matrix.

Methods inherited from class java.lang.Object

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

Constructor Details

RectifyDistortImageOps

public RectifyDistortImageOps()

Method Details

rectifyImage

public static <T extends ImageGray<T>>
ImageDistort<T,T> rectifyImage(FMatrixRMaj rectify,
 BorderType borderType,
 Class<T> imageType)

Creates an ImageDistort for rectifying an image given its rectification matrix. Lens distortion is assumed to have been previously removed.

Parameters:

rectify - Transform for rectifying the image.

imageType - Type of single band image the transform is to be applied to.

Returns:

ImageDistort for rectifying the image.

rectifyImage

public static <T extends ImageBase<T>>
ImageDistort<T,T> rectifyImage(CameraPinholeBrown param,
 FMatrixRMaj rectify,
 BorderType borderType,
 ImageType<T> imageType)

Creates an ImageDistort for rectifying an image given its radial distortion and rectification matrix.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

imageType - Type of single band image the transform is to be applied to.

Returns:

ImageDistort for rectifying the image.

applyMask

public static void applyMask(GrayF32 disparity,
 GrayU8 mask,
 int radius)

Applies a mask which indicates which pixels had mappings to the unrectified image. Pixels which were outside of the original image will be set to 255. The border is extended because the sharp edge in the rectified image can cause in incorrect match between image features.

Parameters:

disparity - (Input) disparity

mask - (Input) mask. 1 = mapping to unrectified. 0 = no mapping

radius - How much the border is extended by

applyMask

public static void applyMask(GrayU8 disparity,
 GrayU8 mask,
 int radius)

Applies a mask which indicates which pixels had mappings to the unrectified image. Pixels which were outside of the original image will be set to 255. The border is extended because the sharp edge can confuse disparity algorithms.

Parameters:

disparity - (Input) disparity

mask - (Input) mask. 1 = mapping to unrectified. 0 = no mapping

radius - How much the border is extended by