gen_grid_rectification_mapT_gen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap (Operator)

Name

gen_grid_rectification_mapT_gen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap — Compute the mapping between the distorted image and the rectified image based upon the points of a regular grid.

Signature

Description

gen_grid_rectification_mapgen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap calculates the mapping between the grid points (RowRowRowRowrow,ColColColColcol), which have been actually detected in the distorted image ImageImageImageImageimage (typically using saddle_points_sub_pixsaddle_points_sub_pixsaddle_points_sub_pixSaddlePointsSubPixSaddlePointsSubPix), and the corresponding grid points of the ideal regular point grid. First, all paths that lead from their initial point via exactly four different connecting lines back to the initial point are assembled from the grid points (RowRowRowRowrow,ColColColColcol) and the connecting lines ConnectingLinesConnectingLinesConnectingLinesConnectingLinesconnectingLines (detected by connect_grid_pointsconnect_grid_pointsconnect_grid_pointsConnectGridPointsConnectGridPoints). In case that the input of grid points (RowRowRowRowrow,ColColColColcol) and of connecting lines ConnectingLinesConnectingLinesConnectingLinesConnectingLinesconnectingLines was meaningful, one such 'mesh' corresponds to exactly one grid cell in the rectification grid. Afterwards, the meshes are combined to the point grid. According to the value of RotationRotationRotationRotationrotation, the point grid is rotated by 0, 90, 180 or 270 degrees. Note that the point grid does not necessarily have the correct orientation. When passing 'auto'"auto""auto""auto""auto" in RotationRotationRotationRotationrotation, the point grid is rotated such that the black circular mark in the rectification grid is positioned to the left of the white one (see also create_rectification_gridcreate_rectification_gridcreate_rectification_gridCreateRectificationGridCreateRectificationGrid). Finally, the mapping MapMapMapMapmap between the distorted image and the rectified image is calculated by interpolation between the grid points. Each grid cell, for which the coordinates (RowRowRowRowrow,ColColColColcol) of all four corner points are known, is projected onto a square of GridSpacingGridSpacingGridSpacingGridSpacinggridSpacing x GridSpacingGridSpacingGridSpacingGridSpacinggridSpacing pixels.

MapTypeMapTypeMapTypeMapTypemapType is used to specify the type of the output MapMapMapMapmap. If 'bilinear'"bilinear""bilinear""bilinear""bilinear" interpolation is chosen, MapMapMapMapmap consists of one image containing five channels. In the first channel for each pixel in the resulting image the linearized coordinates of the pixel in the input image is stored that is in the upper left position relative to the transformed coordinates. The four other channels contain the weights of the four neighboring pixels of the transformed coordinates which are used for the bilinear interpolation, in the following order:

+---+---+
| 2 | 3 |
+---+---+
| 4 | 5 |
+---+---+

The second channel, for example, contains the weights of the pixels that lie to the upper left relative to the transformed coordinates. If 'coordinate_map_sub_pix'"coordinate_map_sub_pix""coordinate_map_sub_pix""coordinate_map_sub_pix""coordinate_map_sub_pix" is chosen, MapMapMapMapmap consists of one vector field image, in which for each pixel of the resulting image the subpixel precise coordinates in the input image are stored.

gen_grid_rectification_mapgen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap additionally returns the calculated meshes as XLD contours in MeshesMeshesMeshesMeshesmeshes.

In contrary to gen_arbitrary_distortion_mapgen_arbitrary_distortion_mapgen_arbitrary_distortion_mapGenArbitraryDistortionMapGenArbitraryDistortionMap, gen_grid_rectification_mapgen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap and its predecessors are used when the coordinates (RowRowRowRowrow,ColColColColcol) of the grid points in the distorted image are neither known nor can be derived from the image contents.

If you want to re-use the created map in another program, you can save it as a multi-channel image with the operator write_imagewrite_imagewrite_imageWriteImageWriteImage, using the format 'tiff'"tiff""tiff""tiff""tiff".

Attention

Each input XLD contour ConnectingLinesConnectingLinesConnectingLinesConnectingLinesconnectingLines must own the global attribute 'bright_dark'"bright_dark""bright_dark""bright_dark""bright_dark", as it is described with connect_grid_pointsconnect_grid_pointsconnect_grid_pointsConnectGridPointsConnectGridPoints!

Parallelization

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Result

gen_grid_rectification_mapgen_grid_rectification_mapgen_grid_rectification_mapGenGridRectificationMapGenGridRectificationMap returns 2 (H_MSG_TRUE) if all parameter values are correct. If necessary, an exception is raised.

Possible Predecessors

connect_grid_pointsconnect_grid_pointsconnect_grid_pointsConnectGridPointsConnectGridPoints

Possible Successors

map_imagemap_imagemap_imageMapImageMapImage

See also

gen_arbitrary_distortion_mapgen_arbitrary_distortion_mapgen_arbitrary_distortion_mapGenArbitraryDistortionMapGenArbitraryDistortionMap

Module

Calibration