Use this class to rectify stereo images if the same distortion maps are reused over and over again.
The rectify maps are cached internally and only computed once for the camera parameters. The stereo camera calibration must be supplied in a mrpt::util::TStereoCamera structure (which provides method for loading from a plain text config file) or directly from the parameters of a mrpt::obs::CObservationStereoImages object.
Remember that the rectified images have a different set of intrinsic parameters than the original images, which can be retrieved with getRectifiedImageParams()
Works with grayscale or color images.
Refer to the program stereo-calib-gui for a tool that generates the required stereo camera parameters from a set of stereo images of a checkerboard.
Example of usage with mrpt::obs::CObservationStereoImages:
Read also the tutorial page online: http://www.mrpt.org/Rectifying_stereo_images
Definition at line 66 of file CStereoRectifyMap.h.
#include <mrpt/vision/CStereoRectifyMap.h>
Public Member Functions | |
CStereoRectifyMap () | |
Default ctor. More... | |
Rectify map preparation and setting/getting of parameters | |
bool | isSet () const |
Returns true if setFromCamParams() has been already called, false otherwise. More... | |
void | setFromCamParams (const mrpt::utils::TStereoCamera ¶ms) |
Prepares the mapping from the intrinsic, distortion and relative pose parameters of a stereo camera. More... | |
void | setFromCamParams (const mrpt::obs::CObservationStereoImages &stereo_obs) |
A wrapper to setFromCamParams() which takes the parameters from an stereo observation object. More... | |
const mrpt::utils::TStereoCamera & | getCameraParams () const |
Returns the camera parameters which were used to generate the distortion map, as passed by the user to setFromCamParams. More... | |
const mrpt::utils::TStereoCamera & | getRectifiedImageParams () const |
After computing the rectification maps, this method retrieves the calibration parameters of the rectified images (which won't have any distortion). More... | |
const mrpt::utils::TCamera & | getRectifiedLeftImageParams () const |
Just like getRectifiedImageParams() but for the left camera only. More... | |
const mrpt::utils::TCamera & | getRectifiedRightImageParams () const |
Just like getRectifiedImageParams() but for the right camera only. More... | |
void | setAlpha (double alpha) |
Sets the alpha parameter which controls the zoom in/out of the rectified images, such that: More... | |
double | getAlpha () const |
Return the alpha parameter. More... | |
void | enableResizeOutput (bool enable, unsigned int target_width=0, unsigned int target_height=0) |
If enabled, the computed maps will rectify images to a size different than their original size. More... | |
bool | isEnabledResizeOutput () const |
Returns whether resizing is enabled (default=false) More... | |
mrpt::utils::TImageSize | getResizeOutputSize () const |
Only when isEnabledResizeOutput() returns true, this gets the target size. More... | |
void | setInterpolationMethod (const mrpt::utils::TInterpolationMethod interp) |
Change remap interpolation method (default=Lineal). More... | |
mrpt::utils::TInterpolationMethod | getInterpolationMethod () const |
Get the currently selected interpolation method. More... | |
void | enableBothCentersCoincide (bool enable=true) |
If enabled (default=false), the principal points in both output images will coincide. More... | |
bool | isEnabledBothCentersCoincide () const |
const mrpt::poses::CPose3DQuat & | getLeftCameraRot () const |
After computing the rectification maps, get the rotation applied to the left/right camera so their virtual image plane is the same after rectification. More... | |
const mrpt::poses::CPose3DQuat & | getRightCameraRot () const |
See getLeftCameraRot() More... | |
void | setRectifyMaps (const std::vector< int16_t > &left_x, const std::vector< uint16_t > &left_y, const std::vector< int16_t > &right_x, const std::vector< uint16_t > &right_y) |
Direct input access to rectify maps. More... | |
void | setRectifyMapsFast (std::vector< int16_t > &left_x, std::vector< uint16_t > &left_y, std::vector< int16_t > &right_x, std::vector< uint16_t > &right_y) |
Direct input access to rectify maps. More... | |
Rectify methods | |
void | rectify (const mrpt::utils::CImage &in_left_image, const mrpt::utils::CImage &in_right_image, mrpt::utils::CImage &out_left_image, mrpt::utils::CImage &out_right_image) const |
Rectify the input image pair and save the result in a different output images - setFromCamParams() must have been set prior to calling this. More... | |
void | rectify (mrpt::utils::CImage &left_image, mrpt::utils::CImage &right_image, const bool use_internal_mem_cache=true) const |
Overloaded version for in-place rectification: replace input images with their rectified versions If use_internal_mem_cache is set to true (recommended), will reuse over and over again the same auxiliary images (kept internally to this object) needed for in-place rectification. More... | |
void | rectify (mrpt::obs::CObservationStereoImages &stereo_image_observation, const bool use_internal_mem_cache=true) const |
Overloaded version for in-place rectification of image pairs stored in a mrpt::obs::CObservationStereoImages. More... | |
void | rectify_IPL (const void *in_left_image, const void *in_right_image, void *out_left_image, void *out_right_image) const |
Just like rectify() but directly works with OpenCV's "IplImage*", which must be passed as "void*" to avoid header dependencies Output images CANNOT coincide with the input images. More... | |
Private Member Functions | |
void | internal_invalidate () |
Private Attributes | |
double | m_alpha |
bool | m_resize_output |
bool | m_enable_both_centers_coincide |
mrpt::utils::TImageSize | m_resize_output_value |
mrpt::utils::TInterpolationMethod | m_interpolation_method |
mrpt::utils::CImage | m_cache1 |
mrpt::utils::CImage | m_cache2 |
Memory caches for in-place rectification speed-up. More... | |
std::vector< int16_t > | m_dat_mapx_left |
std::vector< int16_t > | m_dat_mapx_right |
std::vector< uint16_t > | m_dat_mapy_left |
std::vector< uint16_t > | m_dat_mapy_right |
mrpt::utils::TStereoCamera | m_camera_params |
A copy of the data provided by the user. More... | |
mrpt::utils::TStereoCamera | m_rectified_image_params |
Resulting images params. More... | |
mrpt::poses::CPose3DQuat | m_rot_left |
mrpt::poses::CPose3DQuat | m_rot_right |
The rotation applied to the left/right camera so their virtual image plane is the same after rectification. More... | |
mrpt::vision::CStereoRectifyMap::CStereoRectifyMap | ( | ) |
Default ctor.
void mrpt::vision::CStereoRectifyMap::enableBothCentersCoincide | ( | bool | enable = true | ) |
If enabled (default=false), the principal points in both output images will coincide.
void mrpt::vision::CStereoRectifyMap::enableResizeOutput | ( | bool | enable, |
unsigned int | target_width = 0 , |
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unsigned int | target_height = 0 |
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If enabled, the computed maps will rectify images to a size different than their original size.
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Returns the camera parameters which were used to generate the distortion map, as passed by the user to setFromCamParams.
Definition at line 94 of file CStereoRectifyMap.h.
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Get the currently selected interpolation method.
Definition at line 134 of file CStereoRectifyMap.h.
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After computing the rectification maps, get the rotation applied to the left/right camera so their virtual image plane is the same after rectification.
Definition at line 146 of file CStereoRectifyMap.h.
const mrpt::utils::TStereoCamera& mrpt::vision::CStereoRectifyMap::getRectifiedImageParams | ( | ) | const |
After computing the rectification maps, this method retrieves the calibration parameters of the rectified images (which won't have any distortion).
std::exception | If the rectification maps have not been computed. |
const mrpt::utils::TCamera& mrpt::vision::CStereoRectifyMap::getRectifiedLeftImageParams | ( | ) | const |
Just like getRectifiedImageParams() but for the left camera only.
const mrpt::utils::TCamera& mrpt::vision::CStereoRectifyMap::getRectifiedRightImageParams | ( | ) | const |
Just like getRectifiedImageParams() but for the right camera only.
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Only when isEnabledResizeOutput() returns true, this gets the target size.
Definition at line 126 of file CStereoRectifyMap.h.
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Definition at line 148 of file CStereoRectifyMap.h.
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Definition at line 142 of file CStereoRectifyMap.h.
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Returns whether resizing is enabled (default=false)
Definition at line 123 of file CStereoRectifyMap.h.
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Returns true if setFromCamParams() has been already called, false otherwise.
Can be used within loops to determine the first usage of the object and when it needs to be initialized.
Definition at line 76 of file CStereoRectifyMap.h.
void mrpt::vision::CStereoRectifyMap::rectify | ( | const mrpt::utils::CImage & | in_left_image, |
const mrpt::utils::CImage & | in_right_image, | ||
mrpt::utils::CImage & | out_left_image, | ||
mrpt::utils::CImage & | out_right_image | ||
) | const |
Rectify the input image pair and save the result in a different output images - setFromCamParams() must have been set prior to calling this.
The previous contents of the output images are completely ignored, but if they are already of the correct size and type, allocation time will be saved. Recall that getRectifiedImageParams() provides you the new intrinsic parameters of these images.
std::exception | If the rectification maps have not been computed. |
void mrpt::vision::CStereoRectifyMap::rectify | ( | mrpt::obs::CObservationStereoImages & | stereo_image_observation, |
const bool | use_internal_mem_cache = true |
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) | const |
Overloaded version for in-place rectification of image pairs stored in a mrpt::obs::CObservationStereoImages.
Upon return, the new camera intrinsic parameters will be already stored in the observation object. If use_internal_mem_cache is set to true (recommended), will reuse over and over again the same auxiliary images (kept internally to this object) needed for in-place rectification. The only reason not to enable this cache is when multiple threads can invoke this method simultaneously.
void mrpt::vision::CStereoRectifyMap::rectify | ( | mrpt::utils::CImage & | left_image, |
mrpt::utils::CImage & | right_image, | ||
const bool | use_internal_mem_cache = true |
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) | const |
Overloaded version for in-place rectification: replace input images with their rectified versions If use_internal_mem_cache is set to true (recommended), will reuse over and over again the same auxiliary images (kept internally to this object) needed for in-place rectification.
The only reason not to enable this cache is when multiple threads can invoke this method simultaneously.
void mrpt::vision::CStereoRectifyMap::rectify_IPL | ( | const void * | in_left_image, |
const void * | in_right_image, | ||
void * | out_left_image, | ||
void * | out_right_image | ||
) | const |
Just like rectify() but directly works with OpenCV's "IplImage*", which must be passed as "void*" to avoid header dependencies Output images CANNOT coincide with the input images.
void mrpt::vision::CStereoRectifyMap::setAlpha | ( | double | alpha | ) |
Sets the alpha parameter which controls the zoom in/out of the rectified images, such that:
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A wrapper to setFromCamParams() which takes the parameters from an stereo observation object.
Definition at line 86 of file CStereoRectifyMap.h.
References mrpt::obs::CObservationStereoImages::getStereoCameraParams().
void mrpt::vision::CStereoRectifyMap::setFromCamParams | ( | const mrpt::utils::TStereoCamera & | params | ) |
Prepares the mapping from the intrinsic, distortion and relative pose parameters of a stereo camera.
Must be called before invoking rectify(). The alpha parameter can be changed with setAlpha() before invoking this method; otherwise, the current rectification maps will be marked as invalid and should be prepared again.
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Change remap interpolation method (default=Lineal).
This parameter can be safely changed at any instant without consequences.
Definition at line 129 of file CStereoRectifyMap.h.
void mrpt::vision::CStereoRectifyMap::setRectifyMaps | ( | const std::vector< int16_t > & | left_x, |
const std::vector< uint16_t > & | left_y, | ||
const std::vector< int16_t > & | right_x, | ||
const std::vector< uint16_t > & | right_y | ||
) |
Direct input access to rectify maps.
void mrpt::vision::CStereoRectifyMap::setRectifyMapsFast | ( | std::vector< int16_t > & | left_x, |
std::vector< uint16_t > & | left_y, | ||
std::vector< int16_t > & | right_x, | ||
std::vector< uint16_t > & | right_y | ||
) |
Direct input access to rectify maps.
This method swaps the vectors so the inputs are no longer available.
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Definition at line 209 of file CStereoRectifyMap.h.
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Definition at line 215 of file CStereoRectifyMap.h.
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Memory caches for in-place rectification speed-up.
Definition at line 215 of file CStereoRectifyMap.h.
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A copy of the data provided by the user.
Definition at line 220 of file CStereoRectifyMap.h.
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Definition at line 217 of file CStereoRectifyMap.h.
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Definition at line 217 of file CStereoRectifyMap.h.
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Definition at line 218 of file CStereoRectifyMap.h.
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Definition at line 218 of file CStereoRectifyMap.h.
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Definition at line 211 of file CStereoRectifyMap.h.
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Definition at line 213 of file CStereoRectifyMap.h.
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Resulting images params.
Definition at line 221 of file CStereoRectifyMap.h.
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Definition at line 210 of file CStereoRectifyMap.h.
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Definition at line 212 of file CStereoRectifyMap.h.
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Definition at line 223 of file CStereoRectifyMap.h.
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The rotation applied to the left/right camera so their virtual image plane is the same after rectification.
Definition at line 223 of file CStereoRectifyMap.h.
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