Package boofcv.alg.mvs

Class BundleToRectificationStereoParameters

java.lang.Object

boofcv.alg.mvs.BundleToRectificationStereoParameters

public class BundleToRectificationStereoParameters
extends Object

Given parameters from bundle adjustment, compute all the parameters needed to compute a rectified stereo image pair. The rectified image's shape is adjusted to maximize usable area, but will maintain the same number of pixels as the original view.

Field Summary

Fields

Modifier and Type	Field	Description
final CameraPinholeBrown	intrinsic1	Storage for intrinsic parameters of original distorted view-1
final CameraPinholeBrown	intrinsic2	Storage for intrinsic parameters of original distorted view-2
final DMatrixRMaj	K1	Storage for intrinsic parameters of original view without lens distortion.
final DMatrixRMaj	K2	Storage for intrinsic parameters of original view without lens distortion.
final DMatrixRMaj	rectifiedK	Intrinsic parameters of the rectified view-1
final ImageDimension	rectifiedShape	The rectified image's shape.
final DMatrixRMaj	rotate_orig_to_rect	Rotation from original to rectified coordinate system
final DMatrixRMaj	undist_to_rect1	Rectification homography.
final FMatrixRMaj	undist_to_rect1_F32	Rectification homography.
final DMatrixRMaj	undist_to_rect2	Rectification homography.
final FMatrixRMaj	undist_to_rect2_F32	Rectification homography.
PixelTransform<Point2D_F64>	view1_dist_to_undist	From distorted to undistorted pixels in view-1

Constructor Summary

Constructors

Constructor	Description
BundleToRectificationStereoParameters()

Method Summary

Modifier and Type	Method	Description
void	processView2(BundleAdjustmentCamera bundle2, @Nullable BundleCameraState state2, int width, int height, Se3_F64 view1_to_view2)	Specifies the second view and computes rectification parameters.
void	setView1(BundleAdjustmentCamera bundle1, @Nullable BundleCameraState state1, int width, int height)	Specifies lens parameters for view-1.

Methods inherited from class java.lang.Object

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

Field Details

intrinsic1

public final CameraPinholeBrown intrinsic1

Storage for intrinsic parameters of original distorted view-1

intrinsic2

public final CameraPinholeBrown intrinsic2

Storage for intrinsic parameters of original distorted view-2

view1_dist_to_undist

public PixelTransform<Point2D_F64> view1_dist_to_undist

From distorted to undistorted pixels in view-1

K1

public final DMatrixRMaj K1

Storage for intrinsic parameters of original view without lens distortion. view-1

K2

public final DMatrixRMaj K2

Storage for intrinsic parameters of original view without lens distortion. view-2

rectifiedK

public final DMatrixRMaj rectifiedK

Intrinsic parameters of the rectified view-1

rectifiedShape

public final ImageDimension rectifiedShape

The rectified image's shape. The shape is adjust to minimize wasted pixels

undist_to_rect1

public final DMatrixRMaj undist_to_rect1

Rectification homography. Undistorted pixels to rectified pixels. view-1 F64

undist_to_rect2

public final DMatrixRMaj undist_to_rect2

Rectification homography. Undistorted pixels to rectified pixels. view-2 F64

undist_to_rect1_F32

public final FMatrixRMaj undist_to_rect1_F32

Rectification homography. Undistorted pixels to rectified pixels. view-1 F32

undist_to_rect2_F32

public final FMatrixRMaj undist_to_rect2_F32

Rectification homography. Undistorted pixels to rectified pixels. view-2 F32

rotate_orig_to_rect

public final DMatrixRMaj rotate_orig_to_rect

Rotation from original to rectified coordinate system

Constructor Details

BundleToRectificationStereoParameters

public BundleToRectificationStereoParameters()

Method Details

setView1

public void setView1(BundleAdjustmentCamera bundle1,
 @Nullable
 @Nullable BundleCameraState state1,
 int width,
 int height)

Specifies lens parameters for view-1. This is done independently since often the same view is compared against multiple other views

processView2

public void processView2(BundleAdjustmentCamera bundle2,
 @Nullable
 @Nullable BundleCameraState state2,
 int width,
 int height,
 Se3_F64 view1_to_view2)

Specifies the second view and computes rectification parameters. Must be called after setView1(boofcv.abst.geo.bundle.BundleAdjustmentCamera, boofcv.abst.geo.bundle.BundleCameraState, int, int).

Parameters:

bundle2 - (Input) Intrinsic lens distortion parameters

view1_to_view2 - (Input) Extrinsic relationship between view-1 and view-2