geometry.hpp File Reference

#include "attributes.hpp"
#include "status.hpp"
#include <array>
#include <cstddef>
#include <cstdint>

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Classes
struct	retinify::Rect2< T >
	Rectangle structure. More...
struct	retinify::Intrinsics
	Camera intrinsic parameters with focal lengths, principal point, and skew. More...
struct	retinify::Distortion
	Rational distortion model with 8 coefficients: (k1, k2, p1, p2, k3, k4, k5, k6) More...
struct	retinify::CalibrationParameters
	Stereo camera calibration parameters. More...

Namespaces
namespace	retinify

Typedefs
using	retinify::Vec2d = std::array< double, 2 >
	2D vector (double)
using	retinify::Vec3d = std::array< double, 3 >
	3D vector (double)
using	retinify::Point2d = std::array< double, 2 >
	2D point (double)
using	retinify::Point3d = std::array< double, 3 >
	3D point (double)
using	retinify::Mat3x3d = std::array< std::array< double, 3 >, 3 >
	3x3 matrix (double, row-major)
using	retinify::Mat3x4d = std::array< std::array< double, 4 >, 3 >
	3x4 matrix (double, row-major)
using	retinify::Mat4x4d = std::array< std::array< double, 4 >, 4 >
	4x4 matrix (double, row-major)
using	retinify::Rect2d = Rect2< double >
	2D rectangle (double)

Functions
RETINIFY_API auto	retinify::Identity () noexcept -> Mat3x3d
	Create a 3x3 identity matrix.
RETINIFY_API auto	retinify::Determinant (const Mat3x3d &mat) noexcept -> double
	Compute the determinant of a 3x3 matrix.
RETINIFY_API auto	retinify::Transpose (const Mat3x3d &mat) noexcept -> Mat3x3d
	Transpose a 3x3 matrix.
RETINIFY_API auto	retinify::Add (const Mat3x3d &mat1, const Mat3x3d &mat2) noexcept -> Mat3x3d
	Add two 3x3 matrices.
RETINIFY_API auto	retinify::Multiply (const Mat3x3d &mat, const Vec3d &vec) noexcept -> Vec3d
	Multiply a 3x3 matrix and a 3D vector.
RETINIFY_API auto	retinify::Multiply (const Mat3x3d &mat1, const Mat3x3d &mat2) noexcept -> Mat3x3d
	Multiply two 3x3 matrices.
RETINIFY_API auto	retinify::Multiply (const Mat3x3d &mat, double scale) noexcept -> Mat3x3d
	Multiply a 3x3 matrix by a scalar value.
RETINIFY_API auto	retinify::Multiply (const Vec3d &vec, double scale) noexcept -> Vec3d
	Multiply a 3D vector by a scalar value.
RETINIFY_API auto	retinify::Length (const Vec3d &vec) noexcept -> double
	Compute the length (magnitude) of a 3D vector.
RETINIFY_API auto	retinify::Normalize (const Vec3d &vec) noexcept -> Vec3d
	Normalize a 3D vector to unit length.
RETINIFY_API auto	retinify::Dot (const Vec3d &vec1, const Vec3d &vec2) noexcept -> double
	Compute the dot product of two 3D vectors.
RETINIFY_API auto	retinify::Cross (const Vec3d &vec1, const Vec3d &vec2) noexcept -> Vec3d
	Compute the cross product of two 3D vectors.
RETINIFY_API auto	retinify::Hat (const Vec3d &vec) noexcept -> Mat3x3d
	Create a 3x3 skew-symmetric matrix from a 3D rotation vector.
RETINIFY_API auto	retinify::Vee (const Mat3x3d &mat) noexcept -> Vec3d
	Convert a 3x3 skew-symmetric matrix to a 3D rotation vector.
RETINIFY_API auto	retinify::Exp (const Vec3d &vec) noexcept -> Mat3x3d
	Compute the matrix exponential of a 3D rotation vector.
RETINIFY_API auto	retinify::Log (const Mat3x3d &mat) noexcept -> Vec3d
	Compute the matrix logarithm of a 3x3 rotation matrix.
RETINIFY_API auto	retinify::UndistortPoint (const Intrinsics &intrinsics, const Distortion &distortion, const Point2d &point) noexcept -> Point2d
	Undistort a 2D point using the given camera intrinsics and distortion parameters.
RETINIFY_API auto	retinify::DistortPoint (const Intrinsics &intrinsics, const Distortion &distortion, const Point2d &point) noexcept -> Point2d
	Distort a normalized 2D point using the given camera intrinsics and distortion parameters.
RETINIFY_API auto	retinify::StereoRectify (const Intrinsics &intrinsics1, const Distortion &distortion1, const Intrinsics &intrinsics2, const Distortion &distortion2, const Mat3x3d &rotation, const Vec3d &translation, std::uint32_t imageWidth, std::uint32_t imageHeight, Mat3x3d &rotation1, Mat3x3d &rotation2, Mat3x4d &projectionMatrix1, Mat3x4d &projectionMatrix2, Mat4x4d &reprojectionMatrix, double alpha) noexcept -> Status
	Perform stereo rectification for a pair of cameras.
RETINIFY_API auto	retinify::InitUndistortRectifyMap (const Intrinsics &intrinsics, const Distortion &distortion, const Mat3x3d &rotation, const Mat3x4d &projectionMatrix, std::uint32_t imageWidth, std::uint32_t imageHeight, float *mapX, std::size_t mapXStride, float *mapY, std::size_t mapYStride) noexcept -> Status
	Initialize undistort and rectify maps for image remapping.
RETINIFY_API auto	retinify::InitIdentityMap (float *mapX, std::size_t mapXStride, float *mapY, std::size_t mapYStride, std::size_t imageWidth, std::size_t imageHeight) noexcept -> Status
	Initialize identity maps for undistortion/rectification.