The InitUndistortRectifyMapInverse function generates mapx and mapy,
based on a set of camera parameters, where mapx and mapy are inputs for
the xf::cv::remap function. That is, for each pixel in the location (u, v)
in the destination (corrected and rectified) image, the function
computes the corresponding coordinates in the source image (the original
image from camera). The InitUndistortRectifyMapInverse module is
optimized for hardware, so the inverse of rotation matrix is computed
outside the synthesizable logic. Note that the inputs are fixed point,
so the floating point camera parameters must be type casted to Q12.20
format.
API Syntax
template< int CM_SIZE, int DC_SIZE, int MAP_T, int ROWS, int COLS, int NPC, int XFCVDEPTH_mapx = _XFCVDEPTH_DEFAULT, int XFCVDEPTH_mapy = _XFCVDEPTH_DEFAULT >
void InitUndistortRectifyMapInverse ( ap_fixed<32,12> *cameraMatrix, ap_fixed<32,12> *distCoeffs, ap_fixed<32,12> *ir, xf::cv::Mat<MAP_T, ROWS, COLS, NPC, XFCVDEPTH_mapx> &_mapx_mat, xf::cv::Mat<MAP_T, ROWS, COLS, NPC, XFCVDEPTH_mapy> &_mapy_mat, int _cm_size, int _dc_size)
Parameter Descriptions
The following table describes the template and the function parameters.
| Parameter | Description |
|---|---|
| CM_SIZE | It must be set at the compile time, 9 for 3x3 matrix |
| DC_SIZE | It must be set at the compile time, must be 4,5 or 8 |
| MAP_T | It is the type of output maps, and must be XF_32FC1 |
| ROWS | Maximum image height, necessary to generate the output maps |
| COLS | Maximum image width, necessary to generate the output maps |
| NPC | Number of pixels per cycle. This function supports only one pixel per cycle, so set to XF_NPPC1 |
| XFCVDEPTH_mapx | Depth of the output image. |
| XFCVDEPTH_mapy | Depth of the output image. |
| cameraMatrix | The input matrix representing the camera in the old coordinate system |
| distCoeffs | The input distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6]]) |
| ir | The input transformation matrix is equal to Invert(newCameraMatrix*R), where newCameraMatrix represents the camera in the new coordinate system and R is the rotation matrix.. This processing will be done outside the synthesizable block |
| _mapx_mat | Output mat objects containing the mapx |
| _mapy_mat | Output mat objects containing the mapy |
| _cm_size | 9 for 3x3 matrix |
| _dc_size | 4, 5 or 8. If this is 0, then it means there is no distortion |
Resource Utilization