StereoRectification::RectificationInformation Struct Reference

#include <ImFusion/Vision/StereoRectification.h>

Stores parameters used in stereo rectification, a process that aligns images from a stereo camera pair to simplify disparity computation. More...

Detailed Description

Stores parameters used in stereo rectification, a process that aligns images from a stereo camera pair to simplify disparity computation.

The structure contains matrices for rectification transforms, projection, camera intrinsics, and disparity-to-depth conversion.

Public Attributes
mat3	leftR
	Rectification transform (rotation matrix) for the left camera. This matrix brings points given in the unrectified left camera's coordinate system to points in the rectified left camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified left camera's coordinate system to the rectified left camera's coordinate system.
mat3	rightR
	Rectification transform (rotation matrix) for the right camera. This matrix brings points given in the unrectified right camera's coordinate system to points in the rectified right camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified right camera's coordinate system to the rectified right camera's coordinate system.
mat34	leftP
	Projection matrix in the new (rectified) coordinate systems for the left camera, i.e. it projects points given in the rectified left camera coordinate system into the rectified left camera's image.
mat34	rightP
	Projection matrix in the new (rectified) coordinate systems for the right camera, i.e. it projects points given in the rectified right camera coordinate system into the rectified right camera's image.
mat4	Q = mat4::Zero()
	Matrix for computing depth from disparity. Input is (x,y,disp,1)
vec2i	imageSize = vec2i::Zero()
	Image size of rectified images.
mat3	leftK = mat3::Zero()
	Camera intrinsics for rectified left camera.
mat3	rightK = mat3::Zero()
	Camera intrinsics for rectified right camera.
mat4	leftToRightT = mat4::Zero()
	Transformation from left to right camera coordinate system after rectification.
mat4	disparityToDepthT = mat4::Zero()
	Disparity-to-depth mapping matrix (Q matrix for cv::stereoRectify)

Member Data Documentation

leftR

mat3 leftR

Initial value:

= mat3::
                Zero()

Rectification transform (rotation matrix) for the left camera. This matrix brings points given in the unrectified left camera's coordinate system to points in the rectified left camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified left camera's coordinate system to the rectified left camera's coordinate system.

rightR

mat3 rightR

Initial value:

= mat3::
                Zero()

Rectification transform (rotation matrix) for the right camera. This matrix brings points given in the unrectified right camera's coordinate system to points in the rectified right camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified right camera's coordinate system to the rectified right camera's coordinate system.

leftP

mat34 leftP

Initial value:

= mat34::
                Zero()

Projection matrix in the new (rectified) coordinate systems for the left camera, i.e. it projects points given in the rectified left camera coordinate system into the rectified left camera's image.

rightP

mat34 rightP

Initial value:

= mat34::
                Zero()

Projection matrix in the new (rectified) coordinate systems for the right camera, i.e. it projects points given in the rectified right camera coordinate system into the rectified right camera's image.

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The documentation for this struct was generated from the following file:

• ImFusion/Vision/StereoRectification.h