Struct StereoRectifier 

pub struct StereoRectifier {
    pub calib: StereoCalibration,
    pub map_left: Option<(Vec<f32>, Vec<f32>)>,
    pub map_right: Option<(Vec<f32>, Vec<f32>)>,
    pub r_left: [[f64; 3]; 3],
    pub r_right: [[f64; 3]; 3],
}

Computes and applies stereo rectification maps.

After calling compute_maps, use remap_left / remap_right to obtain the rectified images.

Example

use scirs2_vision::stereo::calibration::StereoCalibration;
use scirs2_vision::stereo::rectification::StereoRectifier;

let cal = StereoCalibration::from_baseline(500.0, 500.0, 32.0, 24.0, 0.1);
let mut rect = StereoRectifier::new(cal);
rect.compute_maps(64, 48);
assert!(rect.map_left.is_some());

Fields

calib: StereoCalibration

Stereo calibration parameters.

map_left: Option<(Vec<f32>, Vec<f32>)>

Rectification map for the left image: (map_x, map_y) in pixels.

map_right: Option<(Vec<f32>, Vec<f32>)>

Rectification map for the right image: (map_x, map_y) in pixels.

r_left: [[f64; 3]; 3]

The 3×3 left rectification homography (row-major).

r_right: [[f64; 3]; 3]

The 3×3 right rectification homography (row-major).

Implementations

impl StereoRectifier

pub fn new(calib: StereoCalibration) -> Self

Create a rectifier from calibration data.

pub fn compute_maps(&mut self, width: usize, height: usize)

Compute the rectification maps for an image of size width × height.

Uses a simplified Bouguet decomposition:

• If the cameras are already parallel (no rotation), the maps reduce to identity (no warping needed).
• Otherwise a axis-angle half-rotation is applied to each camera so both look in a common direction with horizontal epipolar lines.

pub fn remap_left(&self, image: &[u8], width: usize, height: usize) -> Vec<u8>

Apply the left rectification map to a grayscale image.

pub fn remap_right(&self, image: &[u8], width: usize, height: usize) -> Vec<u8>

Apply the right rectification map to a grayscale image.

pub fn remap( &self, image: &[u8], width: usize, height: usize, map: &(Vec<f32>, Vec<f32>), ) -> Vec<u8>

Generic remap using bilinear interpolation.