CUndistortMap.cpp

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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 |
   +------------------------------------------------------------------------+ */

#include "vision-precomp.h"  // Precompiled headers
#include <mrpt/vision/CUndistortMap.h>

// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>

using namespace mrpt;
using namespace mrpt::vision;

// Ctor: Leave all vectors empty
CUndistortMap::CUndistortMap() {}
/** Prepares the mapping from the distortion parameters of a camera.
  * Must be called before invoking \a undistort().
  */
void CUndistortMap::setFromCamParams(const mrpt::utils::TCamera& campar)
{
        MRPT_START
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        m_camera_params = campar;

        // Convert to opencv's format:
        double aux1[3][3], aux2[1][5];
        for (int i = 0; i < 3; i++)
                for (int j = 0; j < 3; j++) aux1[i][j] = campar.intrinsicParams(i, j);
        for (int i = 0; i < 5; i++) aux2[0][i] = campar.dist[i];

        const cv::Mat inMat(3, 3, CV_64F, aux1);
        const cv::Mat distM(1, 5, CV_64F, aux2);

        m_dat_mapx.resize(2 * campar.nrows * campar.ncols);
        m_dat_mapy.resize(campar.nrows * campar.ncols);

        CvMat mapx = cvMat(campar.nrows, campar.ncols, CV_16SC2, &m_dat_mapx[0]);
        CvMat mapy = cvMat(campar.nrows, campar.ncols, CV_16UC1, &m_dat_mapy[0]);

        cv::Mat _mapx = cv::cvarrToMat(&mapx, false);
        cv::Mat _mapy = cv::cvarrToMat(&mapy, false);

        cv::initUndistortRectifyMap(
                inMat, distM, cv::Mat(), inMat, _mapx.size(), _mapx.type(), _mapx,
                _mapy);
#else
        THROW_EXCEPTION("MRPT built without OpenCV >=2.0.0!")
#endif
        MRPT_END
}

/** Undistort the input image and saves the result in-place- \a
 * setFromCamParams() must have been set prior to calling this.
  */
void CUndistortMap::undistort(
        const mrpt::utils::CImage& in_img, mrpt::utils::CImage& out_img) const
{
        MRPT_START
        if (m_dat_mapx.empty())
                THROW_EXCEPTION(
                        "Error: setFromCamParams() must be called prior to undistort().")

#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        CvMat mapx = cvMat(
                m_camera_params.nrows, m_camera_params.ncols, CV_16SC2,
                const_cast<int16_t*>(
                        &m_dat_mapx[0]));  // Wrappers on the data as a CvMat's.
        CvMat mapy = cvMat(
                m_camera_params.nrows, m_camera_params.ncols, CV_16UC1,
                const_cast<uint16_t*>(&m_dat_mapy[0]));

        const IplImage* srcImg = in_img.getAs<IplImage>();  // Source Image
        IplImage* outImg =
                cvCreateImage(cvGetSize(srcImg), srcImg->depth, srcImg->nChannels);
        cvRemap(srcImg, outImg, &mapx, &mapy);  // cv::remap(src, dst_part,
        // map1_part, map2_part,
        // INTER_LINEAR, BORDER_CONSTANT );
        out_img.setFromIplImage(outImg);
#endif
        MRPT_END
}

/** Undistort the input image and saves the result in-place- \a
 * setFromCamParams() must have been set prior to calling this.
  */
void CUndistortMap::undistort(mrpt::utils::CImage& in_out_img) const
{
        MRPT_START
        if (m_dat_mapx.empty())
                THROW_EXCEPTION(
                        "Error: setFromCamParams() must be called prior to undistort().")

#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        CvMat mapx = cvMat(
                m_camera_params.nrows, m_camera_params.ncols, CV_16SC2,
                const_cast<int16_t*>(
                        &m_dat_mapx[0]));  // Wrappers on the data as a CvMat's.
        CvMat mapy = cvMat(
                m_camera_params.nrows, m_camera_params.ncols, CV_16UC1,
                const_cast<uint16_t*>(&m_dat_mapy[0]));

        const IplImage* srcImg = in_out_img.getAs<IplImage>();  // Source Image
        IplImage* outImg =
                cvCreateImage(cvGetSize(srcImg), srcImg->depth, srcImg->nChannels);
        cvRemap(srcImg, outImg, &mapx, &mapy);  // cv::remap(src, dst_part,
        // map1_part, map2_part,
        // INTER_LINEAR, BORDER_CONSTANT );
        in_out_img.setFromIplImage(outImg);
#endif
        MRPT_END
}