rectification.cl File Reference

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

Functions
__kernel void	rectify (__global uchar *in, __global uchar *Left, __global uchar *Right, int width, int height)
__kernel void	rectify_VGA (__global uchar *in, __global uchar *Left, __global uchar *Right, int width, int height)
__kernel void	rectify_back (__global uchar *input, __global uchar *Left, int width, int height)

Variables
float constant	F_RECTI = 264.29444970357366f * 2.0f
float constant	CX_RECTI = 321.6046943664551f * 2.0f
float constant	CY_RECTI = 238.9259433746338f * 2.0f
float constant	FX = 413.074435f * 2.0f
float constant	FY = 413.53896f * 2.0f
float constant	CX = 299.831845f * 2.0f
float constant	CY = 234.01305f * 2.0f
float constant	FX2 = 821.59003f
float constant	FY2 = 823.07792f
float constant	CX2 = 718.06715f
float constant	CY2 = 484.56333f
float constant	F_RECTI_VGA = 264.29444970357366f
float constant	CX_RECTI_VGA = 321.6046943664551f
float constant	CY_RECTI_VGA = 238.9259433746338f
float constant	FX_VGA = 413.074435f
float constant	FY_VGA = 413.53896f
float constant	CX_VGA = 299.831845f
float constant	CY_VGA = 234.01305f
float constant	K1 = -0.3857f
float constant	K2 = 0.18076f
float constant	P1 = 0.00004f
float constant	P2 = -0.00188f
float constant	FX2_VGA = 410.795015f
float constant	FY2_VGA = 411.53896f
float constant	CX2_VGA = 359.033575f
float constant	CY2_VGA = 242.281665f
float constant	K11 = -0.36101f
float constant	K22 = 0.12757f
float constant	P11 = -0.00036f
float constant	P22 = -0.00112f

Macro Definition Documentation

at2

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

Function Documentation

rectify()

__kernel void rectify	(	__global uchar *	in,
		__global uchar *	Left,
		__global uchar *	Right,
		int	width,
		int	height
	)

Rectify a stereo camera given its camera parameter and rectification parameter (resolution HD)

Parameters

in	The stereo image input concatenated horizontally L|R
Left	left image after rectified
Right	right image after rectified
width	The image width
height	The image height

rectify_back()

__kernel void rectify_back	(	__global uchar *	input,
		__global uchar *	Left,
		int	width,
		int	height
	)

Project back rectified image into its original shape. This is purely for visualization purposes. Rectification causes the shape of the image to be wavy.

Parameters

in	The rectified disparity result
Left	left disparity image after re-rectified
width	The image width
height	The image height

rectify_VGA()

__kernel void rectify_VGA	(	__global uchar *	in,
		__global uchar *	Left,
		__global uchar *	Right,
		int	width,
		int	height
	)

Rectify a stereo camera given its camera parameter and rectification parameter (resolution VGA)

Parameters

in	The stereo image input concatenated horizontally L|R
Left	left image after rectified
Right	right image after rectified
width	The image width
height	The image height

Variable Documentation

CX

float constant CX = 299.831845f * 2.0f

CX2

float constant CX2 = 718.06715f

CX2_VGA

float constant CX2_VGA = 359.033575f

CX_RECTI

float constant CX_RECTI = 321.6046943664551f * 2.0f

CX_RECTI_VGA

float constant CX_RECTI_VGA = 321.6046943664551f

CX_VGA

float constant CX_VGA = 299.831845f

CY

float constant CY = 234.01305f * 2.0f

CY2

float constant CY2 = 484.56333f

CY2_VGA

float constant CY2_VGA = 242.281665f

CY_RECTI

float constant CY_RECTI = 238.9259433746338f * 2.0f

CY_RECTI_VGA

float constant CY_RECTI_VGA = 238.9259433746338f

CY_VGA

float constant CY_VGA = 234.01305f

F_RECTI

float constant F_RECTI = 264.29444970357366f * 2.0f

F_RECTI_VGA

float constant F_RECTI_VGA = 264.29444970357366f

FX

float constant FX = 413.074435f * 2.0f

FX2

float constant FX2 = 821.59003f

FX2_VGA

float constant FX2_VGA = 410.795015f

FX_VGA

float constant FX_VGA = 413.074435f

FY

float constant FY = 413.53896f * 2.0f

FY2

float constant FY2 = 823.07792f

FY2_VGA

float constant FY2_VGA = 411.53896f

FY_VGA

float constant FY_VGA = 413.53896f

K1

float constant K1 = -0.3857f

K11

float constant K11 = -0.36101f

K2

float constant K2 = 0.18076f

K22

float constant K22 = 0.12757f

P1

float constant P1 = 0.00004f

P11

float constant P11 = -0.00036f

P2

float constant P2 = -0.00188f

P22

float constant P22 = -0.00112f