rectification_native.cpp File Reference

#include "lib.h"

Macros
#define	ARR_MACRO
#define	at2(arr, x, y, width)   arr[x * width + y]
#define	at3(arr, x, y, z, depth, width)   arr[x * depth * width + y * depth + z]

Functions
int	openCV_Init ()

Variables
const double	fxL = 531.48547
const double	fyL = 535.38115
const double	cxL = 317.36588
const double	cyL = 231.51589
const double	k1L = 0.10394
const double	k2L = -0.31141
const double	p1L = -0.01591
const double	p2L = 0.00107
const double	k3L = 0.0
const double	fxR = 528.39448
const double	fyR = 532.66379
const double	cxR = 325.58373
const double	cyR = 221.11119
const double	k1R = 0.10519
const double	k2R = -0.20104
const double	p1R = -0.01859
const double	p2R = -0.00516
const double	k3R = 0.0
const double	trs1 = -42.75357
const double	trs2 = -0.05412
const double	trs3 = -0.15031
const double	rot_om1 = -0.00638
const double	rot_om2 = 0.02294
const double	rot_om3 = -0.00034
const double	fxL_old = 420.34273
const double	fyL_old = 421.97661
const double	cxL_old = 331.07862
const double	cyL_old = 230.79201
const double	k1L_old = -0.38584
const double	k2L_old = 0.20258
const double	p1L_old = 0.00178
const double	p2L_old = -0.00064
const double	k3L_old = 0.0
const double	fxR_old = 421.17524
const double	fyR_old = 422.85973
const double	cxR_old = 325.68780
const double	cyR_old = 233.11305
const double	k1R_old = -0.38543
const double	k2R_old = 0.19216
const double	p1R_old = 0.00123
const double	p2R_old = 0.00038
const double	k3R_old = 0.0
const double	trs1_old = -59.83392
const double	trs2_old = 0.18903
const double	trs3_old = 0.28766
const double	rot_om1_old = 0.00112
const double	rot_om2_old = 0.01688
const double	rot_om3_old = 0.00481
cv::Mat	intrinsicL = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))
cv::Mat	intrinsicR = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))
cv::Mat	Translation = cv::Mat(3, 1, CV_64FC1, cvScalar(0.))
cv::Mat	om = cv::Mat(1, 3, CV_64FC1, cvScalar(0.))
cv::Mat	Rotation = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))
cv::Mat	distCoeffL = cv::Mat(5, 1, CV_64FC1, cvScalar(0.))
cv::Mat	distCoeffR = cv::Mat(5, 1, CV_64FC1, cvScalar(0.))
cv::Mat	imgDistL = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))
cv::Mat	imgDistR = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))
cv::Mat	imgRectiL = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))
cv::Mat	imgRectiR = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))
cv::Mat	R1
cv::Mat	R2
cv::Mat	P1
cv::Mat	P2
cv::Mat	Q
cv::Mat	map1x
cv::Mat	map1y
cv::Mat	map2x
cv::Mat	map2y
cv::Mat	rectResultLeft
cv::Mat	rectResultRight
cv::Mat	RIden = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1)
cv::Mat	rectResultFrame

Macro Definition Documentation

ARR_MACRO

#define ARR_MACRO

at2

#define at2	(		arr,
			x,
			y,
			width
	)		arr[x * width + y]

at3

#define at3	(		arr,
			x,
			y,
			z,
			depth,
			width
	)		arr[x * depth * width + y * depth + z]

Function Documentation

openCV_Init()

int openCV_Init

(

)

Variable Documentation

cxL

const double cxL = 317.36588

cxL_old

const double cxL_old = 331.07862

cxR

const double cxR = 325.58373

cxR_old

const double cxR_old = 325.68780

cyL

const double cyL = 231.51589

cyL_old

const double cyL_old = 230.79201

cyR

const double cyR = 221.11119

cyR_old

const double cyR_old = 233.11305

distCoeffL

cv::Mat distCoeffL = cv::Mat(5, 1, CV_64FC1, cvScalar(0.))

distCoeffR

cv::Mat distCoeffR = cv::Mat(5, 1, CV_64FC1, cvScalar(0.))

fxL

const double fxL = 531.48547

fxL_old

const double fxL_old = 420.34273

fxR

const double fxR = 528.39448

fxR_old

const double fxR_old = 421.17524

fyL

const double fyL = 535.38115

fyL_old

const double fyL_old = 421.97661

fyR

const double fyR = 532.66379

fyR_old

const double fyR_old = 422.85973

imgDistL

cv::Mat imgDistL = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))

imgDistR

cv::Mat imgDistR = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))

imgRectiL

cv::Mat imgRectiL = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))

imgRectiR

cv::Mat imgRectiR = cv::Mat(frameHeight, frameWidth, CV_8UC3, cvScalar(0.))

intrinsicL

cv::Mat intrinsicL = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))

intrinsicR

cv::Mat intrinsicR = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))

k1L

const double k1L = 0.10394

k1L_old

const double k1L_old = -0.38584

k1R

const double k1R = 0.10519

k1R_old

const double k1R_old = -0.38543

k2L

const double k2L = -0.31141

k2L_old

const double k2L_old = 0.20258

k2R

const double k2R = -0.20104

k2R_old

const double k2R_old = 0.19216

k3L

const double k3L = 0.0

k3L_old

const double k3L_old = 0.0

k3R

const double k3R = 0.0

k3R_old

const double k3R_old = 0.0

map1x

cv::Mat map1x

map1y

cv::Mat map1y

map2x

cv::Mat map2x

map2y

cv::Mat map2y

om

cv::Mat om = cv::Mat(1, 3, CV_64FC1, cvScalar(0.))

P1

cv::Mat P1

p1L

const double p1L = -0.01591

p1L_old

const double p1L_old = 0.00178

p1R

const double p1R = -0.01859

p1R_old

const double p1R_old = 0.00123

P2

cv::Mat P2

p2L

const double p2L = 0.00107

p2L_old

const double p2L_old = -0.00064

p2R

const double p2R = -0.00516

p2R_old

const double p2R_old = 0.00038

Q

cv::Mat Q

R1

cv::Mat R1

R2

cv::Mat R2

rectResultFrame

cv::Mat rectResultFrame

rectResultLeft

cv::Mat rectResultLeft

rectResultRight

cv::Mat rectResultRight

RIden

cv::Mat RIden = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1)

rot_om1

const double rot_om1 = -0.00638

rot_om1_old

const double rot_om1_old = 0.00112

rot_om2

const double rot_om2 = 0.02294

rot_om2_old

const double rot_om2_old = 0.01688

rot_om3

const double rot_om3 = -0.00034

rot_om3_old

const double rot_om3_old = 0.00481

Rotation

cv::Mat Rotation = cv::Mat(3, 3, CV_64FC1, cvScalar(0.))

Translation

cv::Mat Translation = cv::Mat(3, 1, CV_64FC1, cvScalar(0.))

trs1

const double trs1 = -42.75357

trs1_old

const double trs1_old = -59.83392

trs2

const double trs2 = -0.05412

trs2_old

const double trs2_old = 0.18903

trs3

const double trs3 = -0.15031

trs3_old

const double trs3_old = 0.28766