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.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
RectifyImageOps()

Method Summary

Methods

Modifier and Type	Method and Description
static void	allInsideLeft(int imageWidth, int imageHeight, org.ejml.data.DenseMatrix64F rectifyLeft, org.ejml.data.DenseMatrix64F rectifyRight) Adjust the rectification such that only pixels which overlap the original left image can be seen.
static void	allInsideLeft(IntrinsicParameters paramLeft, org.ejml.data.DenseMatrix64F rectifyLeft, org.ejml.data.DenseMatrix64F rectifyRight, org.ejml.data.DenseMatrix64F rectifyK) Adjust the rectification such that only pixels which overlap the original left image can be seen.
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, org.ejml.data.DenseMatrix64F rectifyLeft, org.ejml.data.DenseMatrix64F rectifyRight) Adjust the rectification such that the entire original left image can be seen.
static void	fullViewLeft(IntrinsicParameters paramLeft, org.ejml.data.DenseMatrix64F rectifyLeft, org.ejml.data.DenseMatrix64F rectifyRight, org.ejml.data.DenseMatrix64F rectifyK) Adjust the rectification such that the entire original left image can be seen.
static <T extends ImageSingleBand> ImageDistort<T>	rectifyImage(org.ejml.data.DenseMatrix64F rectify, Class<T> imageType) Creates an ImageDistort for rectifying an image given its rectification matrix.
static <T extends ImageSingleBand> ImageDistort<T>	rectifyImage(IntrinsicParameters param, org.ejml.data.DenseMatrix64F rectify, Class<T> imageType) Creates an ImageDistort for rectifying an image given its radial distortion and rectification matrix.
static PointTransform_F32	transformPixelToRect_F32(IntrinsicParameters param, org.ejml.data.DenseMatrix64F rectify) Creates a transform that applies rectification to unrectified distorted pixels.
static PointTransform_F64	transformPixelToRect_F64(IntrinsicParameters param, org.ejml.data.DenseMatrix64F rectify) Creates a transform that applies rectification to unrectified distorted pixels.
static PointTransform_F64	transformPixelToRectNorm_F64(IntrinsicParameters param, org.ejml.data.DenseMatrix64F rectify, org.ejml.data.DenseMatrix64F rectifyK) Creates a transform that applies rectification to unrectified distorted pixels and outputs normalized pixel coordinates.
static PointTransform_F32	transformRectToPixel_F32(IntrinsicParameters param, org.ejml.data.DenseMatrix64F rectify) Creates a transform that goes from rectified to original distorted pixel coordinates.
static PointTransform_F64	transformRectToPixel_F64(IntrinsicParameters param, org.ejml.data.DenseMatrix64F 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 Detail

RectifyImageOps

public RectifyImageOps()

Method Detail

createCalibrated

public static RectifyCalibrated createCalibrated()

Rectification for calibrated stereo pairs. Two stereo camera care 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, org.ejml.data.DenseMatrix64F, org.ejml.data.DenseMatrix64F) and allInsideLeft(int, int, org.ejml.data.DenseMatrix64F, org.ejml.data.DenseMatrix64F).

Returns:

RectifyFundamental

fullViewLeft

public static void fullViewLeft(IntrinsicParameters paramLeft,
                org.ejml.data.DenseMatrix64F rectifyLeft,
                org.ejml.data.DenseMatrix64F rectifyRight,
                org.ejml.data.DenseMatrix64F rectifyK)

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 - Intrinsic parameters for left camera

rectifyLeft - Rectification matrix for left image.

rectifyRight - Rectification matrix for right image.

rectifyK - Rectification calibration matrix.

fullViewLeft

public static void fullViewLeft(int imageWidth,
                int imageHeight,
                org.ejml.data.DenseMatrix64F rectifyLeft,
                org.ejml.data.DenseMatrix64F 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 - Width of left image.

imageHeight - Height of left image.

rectifyLeft - Rectification matrix for left image. Input and Output. Modified.

rectifyRight - Rectification matrix for right image. Input and Output. Modified.

allInsideLeft

public static void allInsideLeft(IntrinsicParameters paramLeft,
                 org.ejml.data.DenseMatrix64F rectifyLeft,
                 org.ejml.data.DenseMatrix64F rectifyRight,
                 org.ejml.data.DenseMatrix64F rectifyK)

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 - Intrinsic parameters for left camera

rectifyLeft - Rectification matrix for left image. Input and Output. Modified.

rectifyRight - Rectification matrix for right image. Input and Output. Modified.

rectifyK - Rectification calibration matrix. Input and Output. Modified.

allInsideLeft

public static void allInsideLeft(int imageWidth,
                 int imageHeight,
                 org.ejml.data.DenseMatrix64F rectifyLeft,
                 org.ejml.data.DenseMatrix64F 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 - Width of left image.

imageHeight - Height of left image.

rectifyLeft - Rectification matrix for left image. Input and Output. Modified.

rectifyRight - Rectification matrix for right image. Input and Output. Modified.

transformRectToPixel_F32

public static PointTransform_F32 transformRectToPixel_F32(IntrinsicParameters param,
                                          org.ejml.data.DenseMatrix64F rectify)

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

The original image coordinate system is maintained even if the intrinsic parameter flipY is true.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

Returns:

Transform from rectified to unrectified pixels

transformRectToPixel_F64

public static PointTransform_F64 transformRectToPixel_F64(IntrinsicParameters param,
                                          org.ejml.data.DenseMatrix64F rectify)

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

The original image coordinate system is maintained even if the intrinsic parameter flipY is true.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

Returns:

Transform from rectified to unrectified pixels

transformPixelToRect_F32

public static PointTransform_F32 transformPixelToRect_F32(IntrinsicParameters param,
                                          org.ejml.data.DenseMatrix64F rectify)

Creates a transform that applies rectification to unrectified distorted pixels.

The original image coordinate system is maintained even if the intrinsic parameter flipY is true.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

Returns:

Transform from unrectified to rectified pixels

transformPixelToRect_F64

public static PointTransform_F64 transformPixelToRect_F64(IntrinsicParameters param,
                                          org.ejml.data.DenseMatrix64F rectify)

Creates a transform that applies rectification to unrectified distorted pixels.

The original image coordinate system is maintained even if the intrinsic parameter flipY is true.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

Returns:

Transform from distorted pixel to rectified pixels

transformPixelToRectNorm_F64

public static PointTransform_F64 transformPixelToRectNorm_F64(IntrinsicParameters param,
                                              org.ejml.data.DenseMatrix64F rectify,
                                              org.ejml.data.DenseMatrix64F rectifyK)

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

The original image coordinate system is maintained even if the intrinsic parameter flipY is true.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

rectifyK - Camera calibration matrix after rectification

Returns:

Transform from unrectified to rectified normalized pixels

rectifyImage

public static <T extends ImageSingleBand> ImageDistort<T> rectifyImage(org.ejml.data.DenseMatrix64F rectify,
                                                       Class<T> imageType)

Creates an ImageDistort for rectifying an image given its rectification matrix. Lens distortion is assumed to have been previously removed.

Parameters:

rectify - Transform for rectifying the image.

imageType - Type of single band image the transform is to be applied to.

Returns:

ImageDistort for rectifying the image.

rectifyImage

public static <T extends ImageSingleBand> ImageDistort<T> rectifyImage(IntrinsicParameters param,
                                                       org.ejml.data.DenseMatrix64F rectify,
                                                       Class<T> imageType)

Creates an ImageDistort for rectifying an image given its radial distortion and rectification matrix.

Parameters:

param - Intrinsic parameters.

rectify - Transform for rectifying the image.

imageType - Type of single band image the transform is to be applied to.

Returns:

ImageDistort for rectifying the image.