CUndistortMap.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef mrpt_CUndistortMap_H
#define mrpt_CUndistortMap_H

#include <mrpt/utils/TCamera.h>
#include <mrpt/utils/CImage.h>

#include <mrpt/vision/link_pragmas.h>

namespace mrpt
{
        namespace vision
        {
                /** Use this class to undistort monocular images if the same distortion map is used over and over again.
                  *  Using this class is much more efficient that calling mrpt::utils::CImage::rectifyImage or OpenCV's cvUndistort2(), since
                  *  the remapping data is computed only once for the camera parameters (typical times: 640x480 image -> 70% build map / 30% actual undistort).
                  *
                  *  Works with grayscale or color images.
                  *
                  * Example of usage:
                  * \code
                  *   CUndistortMap   unmap;
                  *   mrpt::utils::TCamera  cam_params;
                  *
                  *   unmap.setFromCamParams( cam_params );
                  *
                  *   mrpt::utils::CImage  img, img_out;
                  *
                  *   while (true) {
                  *     unmap.undistort(img, img_out);  // or:
                  *     unmap.undistort(img);  // output in place
                  *   }
                  *
                  * \endcode
                  *
                  * \sa CStereoRectifyMap, mrpt::utils::TCamera, the application <a href="http://www.mrpt.org/Application:camera-calib" >camera-calib</a> for calibrating a camera.
                  * \ingroup mrpt_vision_grp
                  */
                class VISION_IMPEXP  CUndistortMap
                {
                public:
                        CUndistortMap(); //!< Default ctor

                        /** Prepares the mapping from the distortion parameters of a camera.
                          * Must be called before invoking \a undistort().
                          */
                        void setFromCamParams(const mrpt::utils::TCamera &params);

                        /** Undistort the input image and saves the result in the output one - \a setFromCamParams() must have been set prior to calling this.
                          */
                        void undistort(const mrpt::utils::CImage &in_img, mrpt::utils::CImage &out_img) const;

                        /** Undistort the input image and saves the result in-place- \a setFromCamParams() must have been set prior to calling this.
                          */
                        void undistort(mrpt::utils::CImage &in_out_img) const;

                        /** Returns the camera parameters which were used to generate the distortion map, as passed by the user to \a setFromCamParams */
                        inline const mrpt::utils::TCamera & getCameraParams() const { return m_camera_params; }

                        /** Returns true if \a setFromCamParams() has been already called, false otherwise.
                          *  Can be used within loops to determine the first usage of the object and when it needs to be initialized.
                          */
                        inline bool isSet() const { return !m_dat_mapx.empty(); }

                private:
                        std::vector<int16_t>  m_dat_mapx;
                        std::vector<uint16_t> m_dat_mapy;

                        mrpt::utils::TCamera  m_camera_params; //!< A copy of the data provided by the user

                }; // end class
        } // end namespace
} // end namespace
#endif