CUndistortMap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/img/TCamera.h>
#include <mrpt/img/CImage.h>

namespace mrpt::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::img::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::img::TCamera  cam_params;
  *
  *   unmap.setFromCamParams( cam_params );
  *
  *   mrpt::img::CImage  img, img_out;
  *
  *   while (true) {
  *     unmap.undistort(img, img_out);  // or:
  *     unmap.undistort(img);  // output in place
  *   }
  *
  * \endcode
  *
  * \sa CStereoRectifyMap, mrpt::img::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::img::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::img::CImage& in_img, mrpt::img::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::img::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::img::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::img::TCamera m_camera_params;

};  // end class
}
#endif