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CreateRectificationMap_WorldUnits

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Module: Calibration

Computes a spatial map for transforming distorted images to rectified images defined in world coordinate plane. Defines the output geometry in world units.

Applications

Image undistortion, perspective removal, image stitching.
Name Type Range Description
inImageFormat ImageFormat Input image format.
inLeftBound Real World X coordinate of left side of generated output image.
inRightBound Real World X coordinate of right side of generated output image.
inTopBound Real World Y coordinate of top side of generated output image. ...
inBottomBound Real World Y coordinate of bottom side of generated output image.
inWorldScale Real* 0.001 - [pix / world unit] Specifies the scale for output image. By default scale is calculated such that there will be no rescaling at the center of output image.
inInvertedWorldY Bool Set to true if world coordinate system has right-handed orientation, also known as mathematical or standard. This effectively mirrors the rectified image vertically.
inInterpolationMethod InterpolationMethod
inTransform RectificationTransform Transform's camera model is needed for undistortion of image, when not supplied the generated map will assume undistorted image on input. Transform's homography is needed for transforming to given world plane, when not supplied the generated map will only remove distortion of image.
outRectificationMap RectificationMap

Description

Creates a RectificationMap, which is used by RectifyImage filter for image rectification onto a defined world plane. Point locations on rectified images are related to the world plane (defined by inTransform) only by translation and scaling.

The inTransform may not contain a camera model – in such case the the generated map will assume undistorted image on input.

The output image dimensions, resolution and cropping are specified by:

  1. inLeftBound,inRightBound,inTopBound,inBottomBound - real world coordinate boundaries of the area which output image will cover.
  2. inWorldScale - the scale for output image, defined in pixels per world unit.
For example, if one is interested in area spanning from (0,0) to (10,6) world coordinate, with resolution 100 pixels / world unit, then inputs would be set as follows:
  • inLeftBound = 0
  • inRightBound = 10
  • inTopBound = 0
  • inBottomBound = 6
  • inWorldScale = 100

Auxiliary data contained inside the RectificationMap describes the relation of rectified image to the world plane.

Examples

Left: original image, as captured by a camera, with mild lens distortion present. Right: rectified image with annotated length measurement.

Errors

This filter can throw an exception to report error. Read how to deal with errors in Error Handling.

List of possible exceptions:

Error type Description
DomainError inLeftBound should be less than inRightBound
DomainError inTopBound should be less than inBottomBound

Complexity Level

This filter is available on Advanced Complexity Level.

Filter Group

This filter is member of CreateRectificationMap filter group.