opencv::ccalib

Function init_undistort_rectify_map

Source 
pub fn init_undistort_rectify_map(
    k: &impl ToInputArray,
    d: &impl ToInputArray,
    xi: &impl ToInputArray,
    r: &impl ToInputArray,
    p: &impl ToInputArray,
    size: Size,
    m1type: i32,
    map1: &mut impl ToOutputArray,
    map2: &mut impl ToOutputArray,
    flags: i32,
) -> Result<()>
Expand description

Computes undistortion and rectification maps for omnidirectional camera image transform by a rotation R. It output two maps that are used for cv::remap(). If D is empty then zero distortion is used, if R or P is empty then identity matrices are used.

§Parameters

  • K: Camera matrix inline formula, with depth CV_32F or CV_64F
  • D: Input vector of distortion coefficients inline formula, with depth CV_32F or CV_64F
  • xi: The parameter xi for CMei’s model
  • R: Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F
  • P: New camera matrix (3x3) or new projection matrix (3x4)
  • size: Undistorted image size.
  • m1type: Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps() for details.
  • map1: The first output map.
  • map2: The second output map.
  • flags: Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC are supported.