Perspective rectification of a calibrated catadioptric image
RectImg = CatRectification(img_org,Hc,qsi,FOV,img_dim,angles);
img_org: Catadioptric image to be rectified
Hc: Matrix of intrinsic parameters of the catadioptric system (obtained with ParaCatCalibration or GeneralCatCalibration)
qsi: Mirror parameter (qsi=1 for paracatadioptric systems and 0<qsi<1 for hyperbolic systems)
FOV: Field of view of the synthetic perspective image (typically FOV=150deg)
img_dim: Dimension of the desired perspective image (typically [1024 768])
angles: angles for the perspective (typically [0 0])
Example:
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Estimation of n conics where n lines are projected in a calibrated paracatadioptric images
function [Omega_opt,AproxError] = ParaLineEstimation(X,Y,Hc);
X,Y: mxn matrices with the coordinates of the image points lying on the n paracatadioptric line projections. Each line projection can be estimated from a minimum of m=2 points
Hc: 3x3 upper triangular matrix with the intrinsic parameters of the paracatadioptric system
Omega_opt: 1x6xn matrix with the n estimated conics
AprroxError: Fitting error for each line projection
