This class implements frame rectification functions.
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| static bool | rectify (const AnyCamera &cameraA, const AnyCamera &cameraB, const HomogenousMatrix4 &world_T_cameraA, const HomogenousMatrix4 &world_T_cameraB, const Frame &frameA, const Frame &frameB, const PinholeCamera &pinholeCamera, Frame &rectifiedFrameA, Frame &rectifiedFrameB, HomogenousMatrix4 &world_T_rectifiedA, HomogenousMatrix4 &world_T_rectifiedB, const bool useTangentMapping, Worker *worker=nullptr) |
| | Rectifies two images with given camera profile and camera pose. More...
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| static bool | detemineRectificationRotation (const HomogenousMatrix4 &world_T_cameraA, const HomogenousMatrix4 &world_T_cameraB, Quaternion &world_R_rectified) |
| | Returns the rotation between the rectified pinhole camera(s) and world for two camera poses. More...
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| static bool | resampleCameraImageWithOptionalTangentMapping (const Frame &sourceFrame, const AnyCamera &sourceCamera, const SquareMatrix3 &source_R_target, const AnyCamera &targetCamera, Frame &targetFrame, LookupCorner2< Vector2 > *source_OLT_target=nullptr, Worker *worker=nullptr, const unsigned int binSizeInPixel=8u, const void *borderColor=nullptr, const bool useTangentMapping=false) |
| | Re-samples a camera image which has been captured with a camera profile as if the image would have been captured with a second camera profile. More...
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This class implements frame rectification functions.
◆ detemineRectificationRotation()
Returns the rotation between the rectified pinhole camera(s) and world for two camera poses.
- Parameters
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| world_T_cameraA | The transformation between the first camera and world, with default camera pointing towards the negative z-space with y-axis up |
| world_T_cameraB | The transformation between the second camera and world, with default camera pointing towards the negative z-space with y-axis up |
| world_R_rectified | The resulting transformation between rectified pinhole camera(s) and world, with default camera pointing towards the negative z-space with y-axis up |
- Returns
- True, if succeeded
◆ rectify()
| static bool Ocean::CV::Depth::Rectifier::rectify |
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const AnyCamera & |
cameraA, |
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const AnyCamera & |
cameraB, |
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const HomogenousMatrix4 & |
world_T_cameraA, |
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const HomogenousMatrix4 & |
world_T_cameraB, |
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const Frame & |
frameA, |
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const Frame & |
frameB, |
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const PinholeCamera & |
pinholeCamera, |
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Frame & |
rectifiedFrameA, |
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Frame & |
rectifiedFrameB, |
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HomogenousMatrix4 & |
world_T_rectifiedA, |
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HomogenousMatrix4 & |
world_T_rectifiedB, |
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const bool |
useTangentMapping, |
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Worker * |
worker = nullptr |
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Rectifies two images with given camera profile and camera pose.
- Parameters
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| cameraA | The camera profile of the first camera, must be valid |
| cameraB | The camera profile of the second camera, must be valid |
| world_T_cameraA | The transformation between the first camera and world, with default camera pointing towards the negative z-space with y-axis up |
| world_T_cameraB | The transformation between the first camera and world, with default camera pointing towards the negative z-space with y-axis up |
| frameA | The first camera image, must be valid |
| frameB | The second camera image, must be valid |
| pinholeCamera | The camera profile of the pinhole camera to be used when rectifying the images, must be valid |
| rectifiedFrameA | The resulting rectified image of the first camera, must be valid |
| rectifiedFrameB | The resulting rectified image of the second camera, must be valid |
| world_T_rectifiedA | The resulting transformation between the first rectified camera and world, with default camera pointing towards the negative z-space with y-axis up |
| world_T_rectifiedB | The resulting transformation between the second rectified camera and world, with default camera pointing towards the negative z-space with y-axis up |
| useTangentMapping | Whether to use tangent mapping to better preserve the original resolution |
| worker | Optional worker object to distribute the computation, nullptr to execute the code on one core only |
- Returns
- True, if succeeded
◆ resampleCameraImageWithOptionalTangentMapping()
| static bool Ocean::CV::Depth::Rectifier::resampleCameraImageWithOptionalTangentMapping |
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const Frame & |
sourceFrame, |
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const AnyCamera & |
sourceCamera, |
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const SquareMatrix3 & |
source_R_target, |
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const AnyCamera & |
targetCamera, |
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Frame & |
targetFrame, |
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LookupCorner2< Vector2 > * |
source_OLT_target = nullptr, |
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Worker * |
worker = nullptr, |
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const unsigned int |
binSizeInPixel = 8u, |
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const void * |
borderColor = nullptr, |
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const bool |
useTangentMapping = false |
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Re-samples a camera image which has been captured with a camera profile as if the image would have been captured with a second camera profile.
Optionally applies tangent mapping to the target image to better preserve the original resolution. The function can be used e.g., to rectify a fisheye camera image into a pinhole camera image.
- Parameters
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| sourceFrame | The source image captured with the source camera profile, must be valid |
| sourceCamera | The source camera profile which has been used to capture the source image, with resolution sourceFrame.width() x sourceFrame.height(), must be valid |
| source_R_target | The rotation transforming 3D points defined in the coordinate system of the target camera image to 3D points defined in the coordinate system of the source camera image, must be valid |
| targetCamera | The camera profile of the target frame, must be valid |
| targetFrame | The resulting target image, with resolution targetCamera.width() x targetCamera.height(), must be valid |
| source_OLT_target | Optional resulting offset lookup table between target image points and source image points |
| worker | Optional worker object to distribute the computational load |
| binSizeInPixel | The size in pixel of the interpolation bins used for building the lookup table, with range [1, infinity) |
| borderColor | The color of border pixels for which now visual content exists, provide one value for each channel, nullptr to use ElementType(0) for each channel |
- Returns
- True, if succeeded
- See also
- FrameInterpolatorBilinear::Comfort::resampleCameraImage().
The documentation for this class was generated from the following file:
1.9.1