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>

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 CUndistortMap
{
   public:
        /** Default ctor */
        CUndistortMap();

        /** 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;

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

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