Rectification.cpp
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35 // ****************************************************************************
36 // Filename: Rectification.cpp
37 // Author: Pedram Azad
38 // Date: 04.10.2008
39 // ****************************************************************************
40 
41 
42 // ****************************************************************************
43 // Includes
44 // ****************************************************************************
45 
46 #include <new> // for explicitly using correct new/delete operators on VC DSPs
47 
48 #include "Rectification.h"
49 
50 #include "Image/ByteImage.h"
53 
54 #include <stdio.h>
55 
56 
57 
58 // ****************************************************************************
59 // class CRectification::CRectificationMapper
60 // ****************************************************************************
61 
62 void CRectification::CRectificationMapper::Init(const Mat3d &homography, const CCalibration *pCalibration)
63 {
64  m_pCalibration = pCalibration;
65  Math3d::SetMat(m_homography, homography);
66 
68 }
69 
70 void CRectification::CRectificationMapper::ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates)
71 {
72  Math2d::ApplyHomography(m_homography, newCoordinates, originalCoordinates);
73 
74  if (m_bUndistort)
75  {
76  // this is not a bug to distort; mapping needs inverse function!
77  m_pCalibration->DistortImageCoordinates(originalCoordinates, originalCoordinates);
78  }
79 }
80 
81 
82 
83 // ****************************************************************************
84 // Constructor / Destructor
85 // ****************************************************************************
86 
87 CRectification::CRectification(bool bInterpolate, bool bUndistort)
88 {
91 
92  m_pRectificationMapperLeft = new CRectificationMapper(bInterpolate, bUndistort);
93  m_pRectificationMapperRight = new CRectificationMapper(bInterpolate, bUndistort);
94 }
95 
97 {
98  delete m_pStereoCalibration;
99 
102 }
103 
104 
105 // ****************************************************************************
106 // methods
107 // ****************************************************************************
108 
109 bool CRectification::Init(const char *pCameraParameterFileName)
110 {
111  if (m_pStereoCalibration->LoadCameraParameters(pCameraParameterFileName))
112  {
114 
115  UpdateMaps();
116 
117  return true;
118  }
119 
120  return false;
121 }
122 
123 void CRectification::Init(const CStereoCalibration *pStereoCalibration)
124 {
125  m_pUsedStereoCalibration = pStereoCalibration;
126 
127  UpdateMaps();
128 }
129 
130 
132 {
134  {
135  printf("error: CRectification object has not been initialized for CRectification::UpdateMaps\n");
136  return;
137  }
138 
141 }
142 
143 void CRectification::Rectify(const CByteImage * const *ppInputImages, CByteImage **ppOutputImages)
144 {
145  m_pRectificationMapperLeft->PerformMapping(ppInputImages[0], ppOutputImages[0]);
146  m_pRectificationMapperRight->PerformMapping(ppInputImages[1], ppOutputImages[1]);
147 }
void ComputeMap(int width, int height)
This method initializes the instance for mapping of images of a specific size.
Definition: ImageMapper.cpp:90
void ApplyHomography(const Mat3d &A, const Vec2d &p, Vec2d &result)
Definition: Math2d.cpp:253
CRectification(bool bInterpolate=true, bool bUndistort=true)
bool LoadCameraParameters(const char *pCameraParameterFileName, bool bTransformLeftCameraToIdentity=true)
Initializes the stereo camera model, given a file path to a stereo camera parameter file...
Mat3d rectificationHomographyRight
The homography for the rectification mapping of the right image.
CStereoCalibration * m_pStereoCalibration
CRectificationMapper * m_pRectificationMapperLeft
Data structure for the representation of 8-bit grayscale images and 24-bit RGB (or HSV) color images ...
Definition: ByteImage.h:80
void DistortImageCoordinates(const Vec2d &undistortedImagePoint, Vec2d &distortedImagePoint) const
Transforms 2D undistorted image coordinates to 2D distorted image coordinates.
const CCalibration * GetLeftCalibration() const
Access to the instance of CCalibration for the camera model of the left camera.
void Init(const Mat3d &homography, const CCalibration *pCalibration)
const CCameraParameters & GetCameraParameters() const
Gives access to the camera parameters.
Definition: Calibration.h:268
void Rectify(const CByteImage *const *ppInputImages, CByteImage **ppOutputImages)
Camera model and functions for a stereo camera system.
bool Init(const char *pCameraParameterFileName)
void PerformMapping(const CByteImage *pInputImage, CByteImage *pOutputImage)
This method performs the mapping.
Mat3d rectificationHomographyLeft
The homography for the rectification mapping of the right image.
CRectificationMapper * m_pRectificationMapperRight
void ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates)
Data structure for the representation of a 2D vector.
Definition: Math2d.h:82
CRectificationMapper(bool bInterpolate, bool bUndistort)
const CStereoCalibration * m_pUsedStereoCalibration
void SetMat(Mat3d &matrix, float r1, float r2, float r3, float r4, float r5, float r6, float r7, float r8, float r9)
Definition: Math3d.cpp:257
Data structure for the representation of a 3x3 matrix.
Definition: Math3d.h:93
Camera model parameters and functions for a single camera.
Definition: Calibration.h:125
const CCalibration * GetRightCalibration() const
Access to the instance of CCalibration for the camera model of the right camera.


asr_ivt
Author(s): Allgeyer Tobias, Hutmacher Robin, Kleinert Daniel, Meißner Pascal, Scholz Jonas, Stöckle Patrick
autogenerated on Mon Dec 2 2019 03:47:28