cv::Rect PinholeCameraModel::rectifyRoi(const cv::Rect& roi_raw) const
{
assert( initialized() );
/// @todo Actually implement "best fit" as described by REP 104.
// For now, just unrectify the four corners and take the bounding box.
cv::Point2d rect_tl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y));
cv::Point2d rect_tr = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width, roi_raw.y));
cv::Point2d rect_br = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width,
roi_raw.y + roi_raw.height));
cv::Point2d rect_bl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y + roi_raw.height));
cv::Point roi_tl(std::ceil (std::min(rect_tl.x, rect_bl.x)),
std::ceil (std::min(rect_tl.y, rect_tr.y)));
cv::Point roi_br(std::floor(std::max(rect_tr.x, rect_br.x)),
std::floor(std::max(rect_bl.y, rect_br.y)));
return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y);
}
void PinholeCameraModel::rectifyPoint(const cv::Point2d& uv_raw, cv::Point2d& uv_rect) const
{
uv_rect = rectifyPoint(uv_raw);
}
