Package boofcv.alg.geo

Class RectifyImageOps

java.lang.Object

boofcv.alg.geo.RectifyImageOps

public class RectifyImageOps
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
RectifyImageOps()

Method Summary

Modifier and Type	Method	Description
static void	adjustView(RectifyFillType approach, CameraPinholeBrown paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK, @Nullable ImageDimension rectifiedSize)	Adjust the rectification based on the provided rule for filling the view.
static void	allInsideLeft(int imageWidth, int imageHeight, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight)	Adjust the rectification such that only pixels which overlap the original left image can be seen.
static void	allInsideLeft(int imageWidth, int imageHeight, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight)	Adjust the rectification such that only pixels which overlap the original left image can be seen.
static void	allInsideLeft(CameraPinholeBrown paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK, @Nullable ImageDimension rectifiedSize)	Adjust the rectification such that only pixels which overlap the original left image can be seen.
static void	allInsideLeft(CameraPinholeBrown paramLeft, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight, FMatrixRMaj rectifyK, @Nullable ImageDimension rectifiedSize)	Adjust the rectification such that only pixels which overlap the original left image can be seen.
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 RectifyCalibrated	createCalibrated()	Rectification for calibrated stereo pairs.
static RectifyFundamental	createUncalibrated()	Rectification for uncalibrated stereo pairs using the fundamental matrix.
static void	fullViewLeft(int imageWidth, int imageHeight, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight)	Adjust the rectification such that the entire original left image can be seen.
static void	fullViewLeft(int imageWidth, int imageHeight, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight)	Adjust the rectification such that the entire original left image can be seen.
static void	fullViewLeft(CameraPinholeBrown paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK, @Nullable ImageDimension rectifiedSize)	Adjust the rectification such that the entire original left image can be seen and adjusts the shape of the rectified image to maximize it's area.
static void	fullViewLeft(CameraPinholeBrown paramLeft, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight, FMatrixRMaj rectifyK, @Nullable ImageDimension rectifiedSize)	Adjust the rectification such that the entire original left image can be seen.
static Point2Transform2_F64	transformPixelToRect(CameraPinholeBrown param, DMatrixRMaj rectify)	Creates a transform that applies rectification to unrectified distorted pixels.
static Point2Transform2_F32	transformPixelToRect(CameraPinholeBrown param, FMatrixRMaj rectify)	Creates a transform that applies rectification to unrectified distorted pixels.
static Point2Transform2_F64	transformPixelToRectNorm(CameraPinholeBrown param, DMatrixRMaj rectify, DMatrixRMaj rectifyK)	Creates a transform that applies rectification to unrectified distorted pixels and outputs normalized pixel coordinates.
static Point2Transform2_F32	transformPixelToRectNorm(CameraPinholeBrown param, FMatrixRMaj rectify, FMatrixRMaj rectifyK)	Creates a transform that applies rectification to unrectified distorted pixels and outputs normalized pixel coordinates.
static Point2Transform2_F64	transformRectToPixel(CameraPinholeBrown param, DMatrixRMaj rectify)	Creates a transform that goes from rectified to original distorted pixel coordinates.
static Point2Transform2_F32	transformRectToPixel(CameraPinholeBrown param, FMatrixRMaj rectify)	Creates a transform that goes from rectified to original distorted pixel coordinates.

Methods inherited from class java.lang.Object

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

Constructor Details

RectifyImageOps

public RectifyImageOps()

Method Details

createCalibrated

public static RectifyCalibrated createCalibrated()

Rectification for calibrated stereo pairs. Two stereo camera are considered calibrated if their baseline is known.

After the rectification has been found it might still need to be adjusted for maximum viewing area. See fullViewLeft and allInsideLeft for adjusting the rectification.

Returns:

RectifyCalibrated

createUncalibrated

public static RectifyFundamental createUncalibrated()

Rectification for uncalibrated stereo pairs using the fundamental matrix. Uncalibrated refers to the stereo baseline being unknown. For this technique to work the fundamental matrix needs to be known very accurately. See comments in RectifyFundamental for more details.

After the rectification has been found it might still need to be adjusted for maximum viewing area. See fullViewLeft(int, int, DMatrixRMaj, DMatrixRMaj) and allInsideLeft(int, int, DMatrixRMaj, DMatrixRMaj).

Returns:

RectifyFundamental

adjustView

public static void adjustView(RectifyFillType approach,
 CameraPinholeBrown paramLeft,
 DMatrixRMaj rectifyLeft,
 DMatrixRMaj rectifyRight,
 DMatrixRMaj rectifyK,
 @Nullable
 @Nullable ImageDimension rectifiedSize)

Adjust the rectification based on the provided rule for filling the view.

WARNING: There are pathological conditions where this will fail. If the new rotated image view and a pixel are parallel it will require infinite area.

Parameters:

paramLeft - (Input) Left camera intrinsic parameters

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

rectifyK - (Input, Output) Rectified intrinsic calibration matrix.

rectifiedSize - (Output, Optional) Rectified image size that maximizes usable pixels at native resolution.

fullViewLeft

public static void fullViewLeft(CameraPinholeBrown paramLeft,
 DMatrixRMaj rectifyLeft,
 DMatrixRMaj rectifyRight,
 DMatrixRMaj rectifyK,
 @Nullable
 @Nullable ImageDimension rectifiedSize)

Adjust the rectification such that the entire original left image can be seen and adjusts the shape of the rectified image to maximize it's area. For use with calibrated stereo images having a known baseline. Due to lens distortions it is possible for large parts of the rectified image to have no overlap with the original and will appear to be black. This can cause issues when processing the image

WARNING: There are pathological conditions where this will fail. If the new rotated image view and a pixel are parallel it will require infinite area.

Parameters:

paramLeft - (Input) Left camera intrinsic parameters

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

rectifyK - (Input, Output) Rectified intrinsic calibration matrix.

rectifiedSize - (Output, Optional) Rectified image size that maximizes usable pixels at native resolution.

fullViewLeft

public static void fullViewLeft(CameraPinholeBrown paramLeft,
 FMatrixRMaj rectifyLeft,
 FMatrixRMaj rectifyRight,
 FMatrixRMaj rectifyK,
 @Nullable
 @Nullable ImageDimension rectifiedSize)

Adjust the rectification such that the entire original left image can be seen. For use with calibrated stereo images having a known baseline. Due to lens distortions it is possible for large parts of the rectified image to have no overlap with the original and will appear to be black. This can cause issues when processing the image

WARNING: There are pathological conditions where this will fail. If the new rotated image view and a pixel are parallel it will require infinite area.

Parameters:

paramLeft - (Input) Left camera intrinsic parameters

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

rectifyK - (Input, Output) Rectified intrinsic calibration matrix.

rectifiedSize - (Output, Optional) Rectified image size that maximizes usable pixels at native resolution.

fullViewLeft

public static void fullViewLeft(int imageWidth,
 int imageHeight,
 DMatrixRMaj rectifyLeft,
 DMatrixRMaj rectifyRight)

Adjust the rectification such that the entire original left image can be seen. For use with uncalibrated stereo images with unknown baseline.

Input rectification matrices are overwritten with adjusted values on output.

Parameters:

imageWidth - (Input) Width of left image.

imageHeight - (Input) Height of left image.

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

fullViewLeft

public static void fullViewLeft(int imageWidth,
 int imageHeight,
 FMatrixRMaj rectifyLeft,
 FMatrixRMaj rectifyRight)

Adjust the rectification such that the entire original left image can be seen. For use with uncalibrated stereo images with unknown baseline.

Input rectification matrices are overwritten with adjusted values on output.

Parameters:

imageWidth - (Input) Width of left image.

imageHeight - (Input) Height of left image.

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

allInsideLeft

public static void allInsideLeft(CameraPinholeBrown paramLeft,
 DMatrixRMaj rectifyLeft,
 DMatrixRMaj rectifyRight,
 DMatrixRMaj rectifyK,
 @Nullable
 @Nullable ImageDimension rectifiedSize)

Adjust the rectification such that only pixels which overlap the original left image can be seen. For use with calibrated stereo images having a known baseline. Image processing is easier since only the "true" image pixels are visible, but information along the image border has been discarded. The rectification matrices are overwritten with adjusted values on output.

Parameters:

paramLeft - (Input) Left camera intrinsic parameters

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

rectifyK - (Input, Output) Rectified intrinsic calibration matrix.

rectifiedSize - (Output, Optional) Rectified image size that maximizes usable pixels at native resolution.

allInsideLeft

public static void allInsideLeft(CameraPinholeBrown paramLeft,
 FMatrixRMaj rectifyLeft,
 FMatrixRMaj rectifyRight,
 FMatrixRMaj rectifyK,
 @Nullable
 @Nullable ImageDimension rectifiedSize)

Adjust the rectification such that only pixels which overlap the original left image can be seen. For use with calibrated stereo images having a known baseline. Image processing is easier since only the "true" image pixels are visible, but information along the image border has been discarded. The rectification matrices are overwritten with adjusted values on output.

Parameters:

paramLeft - (Input) Left camera intrinsic parameters

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

rectifyK - (Input, Output) Rectified intrinsic calibration matrix.

rectifiedSize - (Output, Optional) Rectified image size that maximizes usable pixels at native resolution. Modified.

allInsideLeft

public static void allInsideLeft(int imageWidth,
 int imageHeight,
 DMatrixRMaj rectifyLeft,
 DMatrixRMaj rectifyRight)

Adjust the rectification such that only pixels which overlap the original left image can be seen. For use with uncalibrated images with unknown baselines. Image processing is easier since only the "true" image pixels are visible, but information along the image border has been discarded. The rectification matrices are overwritten with adjusted values on output.

Parameters:

imageWidth - (Input) Width of left image.

imageHeight - (Input) Height of left image.

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

allInsideLeft

public static void allInsideLeft(int imageWidth,
 int imageHeight,
 FMatrixRMaj rectifyLeft,
 FMatrixRMaj rectifyRight)

Adjust the rectification such that only pixels which overlap the original left image can be seen. For use with uncalibrated images with unknown baselines. Image processing is easier since only the "true" image pixels are visible, but information along the image border has been discarded. The rectification matrices are overwritten with adjusted values on output.

Parameters:

imageWidth - (Input) Width of left image.

imageHeight - (Input) Height of left image.

rectifyLeft - (Input, Output) Left image transform from pixels to rectified pixels.

rectifyRight - (Input, Output) Right image transform from pixels to rectified pixels.

transformRectToPixel

public static Point2Transform2_F64 transformRectToPixel(CameraPinholeBrown param,
 DMatrixRMaj rectify)

Creates a transform that goes from rectified to original distorted pixel coordinates. Rectification includes removal of lens distortion. Used for rendering rectified images.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

Returns:

Transform from rectified to unrectified pixels

transformRectToPixel

public static Point2Transform2_F32 transformRectToPixel(CameraPinholeBrown param,
 FMatrixRMaj rectify)

Creates a transform that goes from rectified to original distorted pixel coordinates. Rectification includes removal of lens distortion. Used for rendering rectified images.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

Returns:

Transform from rectified to unrectified pixels

transformPixelToRect

public static Point2Transform2_F64 transformPixelToRect(CameraPinholeBrown param,
 DMatrixRMaj rectify)

Creates a transform that applies rectification to unrectified distorted pixels.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

Returns:

Transform from distorted pixel to rectified pixels

transformPixelToRect

public static Point2Transform2_F32 transformPixelToRect(CameraPinholeBrown param,
 FMatrixRMaj rectify)

Creates a transform that applies rectification to unrectified distorted pixels.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

Returns:

Transform from distorted pixel to rectified pixels

transformPixelToRectNorm

public static Point2Transform2_F64 transformPixelToRectNorm(CameraPinholeBrown param,
 DMatrixRMaj rectify,
 DMatrixRMaj rectifyK)

Creates a transform that applies rectification to unrectified distorted pixels and outputs normalized pixel coordinates.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

rectifyK - (Input) Camera calibration matrix after rectification

Returns:

Transform from unrectified to rectified normalized pixels

transformPixelToRectNorm

public static Point2Transform2_F32 transformPixelToRectNorm(CameraPinholeBrown param,
 FMatrixRMaj rectify,
 FMatrixRMaj rectifyK)

Creates a transform that applies rectification to unrectified distorted pixels and outputs normalized pixel coordinates.

Parameters:

param - (Input) Intrinsic parameters.

rectify - (Input) Transform from pixels to rectified pixels

rectifyK - Camera calibration matrix after rectification

Returns:

Transform from unrectified to rectified normalized pixels

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