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RectifyImage

Header:	FIL.h
Namespace:	fil
Module:	Calibration

Applies a spatial map to distorted image transforming it to rectified image defined in world coordinates.

Syntax

void fil::RectifyImage
(
	const fil::Image& inImage,
	const fil::RectificationMap& inRectificationMap,
	fil::Image& outImage,
	ftl::Optional< fil::Matrix& > outRectifiedTransform = ftl::NIL,
	ftl::Optional< fil::Point2D& > outWorldOrigin = ftl::NIL,
	ftl::Optional< float& > outWorldScale = ftl::NIL,
	ftl::Optional< float& > outWorldScaleInv = ftl::NIL
)

Parameters

Name	Type	Default	Description
inImage	const Image&		Input image
inRectificationMap	const RectificationMap&		The spatial map with associated data for world coordinates calculation on rectified image. Designed to be set with calibration GUI.
outImage	Image&		Remapped image.
outRectifiedTransform	Optional< Matrix& >	NIL	For convenient calculation of world coordinates on rectified image. Connects directly to Image...ToWorldPlane and WorldPlane...ToImage filters. The transformation is only translation + scaling.
outWorldOrigin	Optional< Point2D& >	NIL	Position of world origin on the rectified image.
outWorldScale	Optional< float& >	NIL	[pix / world unit] World scale of the rectified image.
outWorldScaleInv	Optional< float& >	NIL	[world unit / pix] Inverse of outWorldScale. Connects directly to inResolution input of filters such as PointToPointDistance.

Optional Outputs

The computation of following outputs can be switched off by passing value ftl::NIL to these parameters: outRectifiedTransform, outWorldOrigin, outWorldScale, outWorldScaleInv.

Description

Uses a RectificationMap computed by CreateRectificationMap* filters (such as CreateRectificationMap_PixelUnits or CreateRectificationMap_WorldUnits) for image rectification onto a defined world plane. Point locations on rectified images are related to the world plane only by translation and scaling.

Auxiliary outputs outWorldOrigin and outWorldScale fully describe the relation of rectified image to world plane. For convenience the outRectifiedTransform output is provided, which describes the same relation, however it can be directly connected to the ImagePointsToWorldPlane filter family to obtain world coordinates of points detected on the remapped (rectified) image.

Examples