stereoRectify.h

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00001 
00016 #ifndef _DLRCOMPUTERVISION_STEREORECTIFY_H_
00017 #define _DLRCOMPUTERVISION_STEREORECTIFY_H_
00018 
00019 #include <dlrComputerVision/cameraIntrinsicsPinhole.h>
00020 #include <dlrNumeric/transform2D.h>
00021 #include <dlrNumeric/transform3D.h>
00022 
00023 namespace dlr {
00024 
00025   namespace computerVision {
00026 
00064     void
00065     stereoRectify(CameraIntrinsicsPinhole const& intrinsics0,
00066                   CameraIntrinsicsPinhole const& intrinsics1,
00067                   numeric::Transform3D const& camera0Tworld,
00068                   numeric::Transform3D const& camera1Tworld,
00069                   CameraIntrinsicsPinhole& rectifiedIntrinsics0,
00070                   CameraIntrinsicsPinhole& rectifiedIntrinsics1,
00071                   numeric::Transform3D& rcamera0Tworld,
00072                   numeric::Transform3D& rcamera1Tworld,
00073                   numeric::Transform2D& image0Trimage0,
00074                   numeric::Transform2D& image1Trimage1);
00075             
00076 
00077   } // namespace computerVision
00078 
00079 } // namespace dlr
00080 
00081 
00082 // /* =============== Implementation follows =============== */
00083 
00084 
00085 #endif /* #ifndef _DLRCOMPUTERVISION_KERNEL_H_ */