4. Sub Function Descriptions: imageRectifier

• imageRectifier

  • Description:

  This function performs image rectifications given the associated extrinsics, intrinsics, distorted image, and xyz points. The function utilizes xyz2DistUV to find corresponding UVd values to the input grid and pulls the rgb pixel intensity for each value. If the teachingMode flag is =1, the function will plot corresponding steps (xyz-->UVd transformation) as well as rectified output. If a multi-camera rectification is desired, I, intrinsics, and extrinsics can be input as cell values for each camera. The function will then call on cameraSeamBlend to merge the values.

  • Input:

  Note k can be 1:K, where K is the number of cameras. Input order between I, Intrinsics, and Extrinsics must match.

  Variable	Size	Description
  I{k}	NNxMMx3	Distorted Image that pixel values will be taken from for rectification. Image should have been captured when entered intrinsics and extrinsics are valid. NN is the pixel height of the image and MM is the pixel width.
  Intrinsics{k}	[1x11]	Intrinsics Vector Formatted as in A_formatIntrinsics.
  Extrinsics{k}	[1x6]	1x6 Vector representing [ x y z azimuth tilt swing] of the camera in world coordinates. Position values should be in the same units as xyz points to be converted and azimuth, tilt, and swing should be in radians. Extrinsics for all K cameras should be in same coordinate systems.
  X,Y,Z	Variables, NxM or 1xP	Vector or Grid of X,Y, and Z world coordinates to rectify. Note this is not a cell entry. All K cameras will be rectified to the same grid.
  teachingMode	[1x1]	Flag to indicate whether intermediate steps and output will be plotted (Figure 5).

  • Output:

  Variable	Size	Description
  Ir	Variable,NxMx3 or Px1x3	Image intensities for xyz points. Dimensions depend if input entered as a grid or vector. For both, an additional dimension with size 3 is added for r, g, and b intensities. Output will be a uint8 format.

  • Required Core Sub-Functions:

    • xyz2DistUV
    • intrinsicsExtrinsics2P
    • distortUV
    • rectificationPlotter
    • cameraSeamBlend