135 printf(
"error: CRectification object has not been initialized for CRectification::UpdateMaps\n");
void ComputeMap(int width, int height)
This method initializes the instance for mapping of images of a specific size.
void ApplyHomography(const Mat3d &A, const Vec2d &p, Vec2d &result)
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...
const CCalibration * m_pCalibration
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 ...
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.
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.
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)
Data structure for the representation of a 3x3 matrix.
Camera model parameters and functions for a single camera.
const CCalibration * GetRightCalibration() const
Access to the instance of CCalibration for the camera model of the right camera.