boofcv.alg.geo.rectify

Class RectifyCalibrated

java.lang.Object

boofcv.alg.geo.rectify.RectifyCalibrated

public class RectifyCalibrated
extends Object

Rectifies a stereo pair with known camera calibration using a simple algorithm described in [1] such that the epipoles project to infinity along the x-axis. After rectification both images will have the same intrinsic calibration matrix, same extrinsic rotation matrix, but the optical centers are not modified.

The calibration matrix is the standard upper triangular matrix used throughout the library. A single calibration matrix is computed for both images by averaging the two original and setting the skew to zero.

The rectified view is chosen such that it will be most similar to the first camera. This is done by making the original z-axis and the rectified z-axis similar.

[1] A. Fusiello, E. Trucco, and A. Verri, "A Compact Algorithm for Rectification of Stereo Pairs" Machine Vision and Applications, 2000

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
RectifyCalibrated()

Method Summary

Methods

Modifier and Type	Method and Description
org.ejml.data.DenseMatrix64F	getCalibrationMatrix() If a single calibration matrix was requested then this returns it.
org.ejml.data.DenseMatrix64F	getRect1() Rectification transform for first camera
org.ejml.data.DenseMatrix64F	getRect2() Rectification transform for second camera
org.ejml.data.DenseMatrix64F	getRectifiedRotation() Rotation matrix of rectified coordinate system
void	process(org.ejml.data.DenseMatrix64F K1, georegression.struct.se.Se3_F64 worldToCamera1, org.ejml.data.DenseMatrix64F K2, georegression.struct.se.Se3_F64 worldToCamera2) Computes rectification transforms for both cameras and optionally a single calibration matrix.

Methods inherited from class java.lang.Object

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

Constructor Detail

RectifyCalibrated

public RectifyCalibrated()

Method Detail

process

public void process(org.ejml.data.DenseMatrix64F K1,
           georegression.struct.se.Se3_F64 worldToCamera1,
           org.ejml.data.DenseMatrix64F K2,
           georegression.struct.se.Se3_F64 worldToCamera2)

Computes rectification transforms for both cameras and optionally a single calibration matrix.

Parameters:

K1 - Calibration matrix for first camera.

worldToCamera1 - Location of the first camera.

K2 - Calibration matrix for second camera.

worldToCamera2 - Location of the second camera.

getRect1

public org.ejml.data.DenseMatrix64F getRect1()

Rectification transform for first camera

getRect2

public org.ejml.data.DenseMatrix64F getRect2()

Rectification transform for second camera

getCalibrationMatrix

public org.ejml.data.DenseMatrix64F getCalibrationMatrix()

If a single calibration matrix was requested then this returns it.

Returns:

Calibration matrix for both cameras

getRectifiedRotation

public org.ejml.data.DenseMatrix64F getRectifiedRotation()

Rotation matrix of rectified coordinate system

Returns:

Rotation matrix