IVT
Rectification.h
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36 // Filename: Rectification.h
37 // Author: Pedram Azad
38 // Date: 04.10.2008
39 // ****************************************************************************
40 
41 
42 #ifndef _RECTIFICATION_H_
43 #define _RECTIFICATION_H_
44 
45 
46 // ****************************************************************************
47 // Necessary includes
48 // ****************************************************************************
49 
50 #include "Image/ImageMapper.h"
51 #include "Math/Math3d.h"
52 
53 
54 // ****************************************************************************
55 // Forward declarations
56 // ****************************************************************************
57 
58 class CByteImage;
59 class CCalibration;
60 class CStereoCalibration;
61 struct Vec2d;
62 
63 
64 
65 // ****************************************************************************
66 // CRectification
67 // ****************************************************************************
68 
74 {
75 public:
76  // constructor
77  CRectification(bool bInterpolate = true, bool bUndistort = true);
78 
79  // destructor
81 
82 
83  // public methods
84 
85  // initialize by reading a camera parameter file
86  bool Init(const char *pCameraParameterFileName);
87 
88  // initialize by setting a calibration object
89  void Init(const CStereoCalibration *pStereoCalibration);
90  // use this method for re-calculating the maps (not needed for static calibrations)
91  void UpdateMaps();
92 
93  void Rectify(const CByteImage * const *ppInputImages, CByteImage **ppOutputImages);
94 
95 
96 private:
97  class CRectificationMapper : public CImageMapper
98  {
99  public:
100  CRectificationMapper(bool bInterpolate, bool bUndistort) : CImageMapper(bInterpolate)
101  {
102  m_bUndistort = bUndistort;
103  }
104 
105  void Init(const Mat3d &homography, const CCalibration *pCalibration);
106 
107  private:
108  void ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates);
109 
110  const CCalibration *m_pCalibration;
111  Mat3d m_homography;
112 
113  bool m_bUndistort;
114  };
115 
116 
117  // private attributes
118  CStereoCalibration *m_pStereoCalibration;
119  const CStereoCalibration *m_pUsedStereoCalibration;
120 
121  CRectificationMapper *m_pRectificationMapperLeft;
122  CRectificationMapper *m_pRectificationMapperRight;
123 };
124 
125 
126 
127 #endif /* _RECTIFICATION_H_ */
CRectification(bool bInterpolate=true, bool bUndistort=true)
Data structure for the representation of a 2D vector.
Definition: Math2d.h:82
void Rectify(const CByteImage *const *ppInputImages, CByteImage **ppOutputImages)
bool Init(const char *pCameraParameterFileName)
Camera model parameters and functions for a single camera.
Definition: Calibration.h:125
Class for efficient application of arbitrary 2D-2D transformations to whole images.
Definition: ImageMapper.h:76
Data structure for the representation of a 3x3 matrix.
Definition: Math3d.h:93
Data structure for the representation of 8-bit grayscale images and 24-bit RGB (or HSV) color images ...
Definition: ByteImage.h:80
Performing rectification of a stereo image pair.
Definition: Rectification.h:73
Camera model and functions for a stereo camera system.