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CUndistortMap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef mrpt_CUndistortMap_H
10 #define mrpt_CUndistortMap_H
11 
12 #include <mrpt/utils/TCamera.h>
13 #include <mrpt/utils/CImage.h>
14 
16 
17 namespace mrpt
18 {
19  namespace vision
20  {
21  /** Use this class to undistort monocular images if the same distortion map is used over and over again.
22  * Using this class is much more efficient that calling mrpt::utils::CImage::rectifyImage or OpenCV's cvUndistort2(), since
23  * the remapping data is computed only once for the camera parameters (typical times: 640x480 image -> 70% build map / 30% actual undistort).
24  *
25  * Works with grayscale or color images.
26  *
27  * Example of usage:
28  * \code
29  * CUndistortMap unmap;
30  * mrpt::utils::TCamera cam_params;
31  *
32  * unmap.setFromCamParams( cam_params );
33  *
34  * mrpt::utils::CImage img, img_out;
35  *
36  * while (true) {
37  * unmap.undistort(img, img_out); // or:
38  * unmap.undistort(img); // output in place
39  * }
40  *
41  * \endcode
42  *
43  * \sa CStereoRectifyMap, mrpt::utils::TCamera, the application <a href="http://www.mrpt.org/Application:camera-calib" >camera-calib</a> for calibrating a camera.
44  * \ingroup mrpt_vision_grp
45  */
47  {
48  public:
49  CUndistortMap(); //!< Default ctor
50 
51  /** Prepares the mapping from the distortion parameters of a camera.
52  * Must be called before invoking \a undistort().
53  */
54  void setFromCamParams(const mrpt::utils::TCamera &params);
55 
56  /** Undistort the input image and saves the result in the output one - \a setFromCamParams() must have been set prior to calling this.
57  */
58  void undistort(const mrpt::utils::CImage &in_img, mrpt::utils::CImage &out_img) const;
59 
60  /** Undistort the input image and saves the result in-place- \a setFromCamParams() must have been set prior to calling this.
61  */
62  void undistort(mrpt::utils::CImage &in_out_img) const;
63 
64  /** Returns the camera parameters which were used to generate the distortion map, as passed by the user to \a setFromCamParams */
65  inline const mrpt::utils::TCamera & getCameraParams() const { return m_camera_params; }
66 
67  /** Returns true if \a setFromCamParams() has been already called, false otherwise.
68  * Can be used within loops to determine the first usage of the object and when it needs to be initialized.
69  */
70  inline bool isSet() const { return !m_dat_mapx.empty(); }
71 
72  private:
73  std::vector<int16_t> m_dat_mapx;
74  std::vector<uint16_t> m_dat_mapy;
75 
76  mrpt::utils::TCamera m_camera_params; //!< A copy of the data provided by the user
77 
78  }; // end class
79  } // end namespace
80 } // end namespace
81 #endif
mrpt::utils::TCamera m_camera_params
A copy of the data provided by the user.
Definition: CUndistortMap.h:76
A class for storing images as grayscale or RGB bitmaps.
Definition: CImage.h:101
bool isSet() const
Returns true if setFromCamParams() has been already called, false otherwise.
Definition: CUndistortMap.h:70
std::vector< uint16_t > m_dat_mapy
Definition: CUndistortMap.h:74
const mrpt::utils::TCamera & getCameraParams() const
Returns the camera parameters which were used to generate the distortion map, as passed by the user t...
Definition: CUndistortMap.h:65
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Use this class to undistort monocular images if the same distortion map is used over and over again...
Definition: CUndistortMap.h:46
GLenum const GLfloat * params
Definition: glext.h:3514
std::vector< int16_t > m_dat_mapx
Definition: CUndistortMap.h:73
Structure to hold the parameters of a pinhole camera model.
Definition: TCamera.h:31



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