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<div class="title">CUndistortMap.h</div> </div>
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<a href="_c_undistort_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef mrpt_CUndistortMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_CUndistortMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_t_camera_8h.html">mrpt/utils/TCamera.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html">mrpt/vision/link_pragmas.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>vision
<a name="l00039"></a>00039 {<span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** Use this class to undistort images if the same distortion map is used over and over again.</span>
<a name="l00041"></a>00041 <span class="comment"> * Using this class is much more efficient that calling mrpt::utils::CImage::rectifyImage or OpenCV's cvUndistort2(), since</span>
<a name="l00042"></a>00042 <span class="comment"> * the remapping data is computed only once for the camera parameters (typical times: 640x480 image -> 70% build map / 30% actual undistort).</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * Works with grayscale or color images.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * Example of usage:</span>
<a name="l00047"></a>00047 <span class="comment"> * \code</span>
<a name="l00048"></a>00048 <span class="comment"> * CUndistortMap unmap;</span>
<a name="l00049"></a>00049 <span class="comment"> * mrpt::utils::TCamera cam_params;</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * unmap.setFromCamParams( cam_params );</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * mrpt::utils::CImage img, img_out;</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * while (true) {</span>
<a name="l00056"></a>00056 <span class="comment"> * unmap.undistort(img, img_out); // or:</span>
<a name="l00057"></a>00057 <span class="comment"> * unmap.undistort(img); // output in place</span>
<a name="l00058"></a>00058 <span class="comment"> * }</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * \endcode</span>
<a name="l00061"></a>00061 <span class="comment"> *</span>
<a name="l00062"></a>00062 <span class="comment"> * \sa mrpt::utils::TCamera, the application <a href="http://www.mrpt.org/Application:camera-calib" >camera-calib</a> for calibrating a camera.</span>
<a name="l00063"></a>00063 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <span class="keyword">class </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> CUndistortMap
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keyword">public</span>:
<a name="l00068"></a>00068 CUndistortMap(); <span class="comment">//!< Default ctor</span>
<a name="l00069"></a>00069 <span class="comment"></span><span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Prepares the mapping from the distortion parameters of a camera.</span>
<a name="l00071"></a>00071 <span class="comment"> * Must be called before invoking \a undistort().</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="keywordtype">void</span> setFromCamParams(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &params);
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Undistort the input image and saves the result in the output one - \a setFromCamParams() must have been set prior to calling this.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 <span class="keywordtype">void</span> undistort(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &in_img, <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &out_img) <span class="keyword">const</span>;
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Undistort the input image and saves the result in-place- \a setFromCamParams() must have been set prior to calling this.</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> undistort(<a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &in_out_img) <span class="keyword">const</span>;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Returns the camera parameters which were used to generate the distortion map, as passed by the user to \a setFromCamParams */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a1b30a1e7a1adef9b0c0087a3aa2195c8">00084</a> <span class="keyword">inline</span> <span class="keyword">const</span> mrpt<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">::utils::TCamera</a> & <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a1b30a1e7a1adef9b0c0087a3aa2195c8" title="Returns the camera parameters which were used to generate the distortion map, as passed by the user t...">getCameraParams</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_camera_params; }
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Returns true if \a setFromCamParams() has been already called, false otherwise.</span>
<a name="l00087"></a>00087 <span class="comment"> * Can be used within loops to determine the first usage of the object and when it needs to be initialized.</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a2f2f1feba7eed39d28574323b3c61cd7">00089</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a2f2f1feba7eed39d28574323b3c61cd7" title="Returns true if setFromCamParams() has been already called, false otherwise.">isSet</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !m_dat_mapx.empty(); }
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">private</span>:
<a name="l00092"></a><a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a73a9180d3527c710627faf0a603724ac">00092</a> std<a class="code" href="classstd_1_1vector.html">::vector<int16_t></a> <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a73a9180d3527c710627faf0a603724ac">m_dat_mapx</a>;
<a name="l00093"></a><a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a93c2731a7d98de86175bb7762a76eca8">00093</a> std<a class="code" href="classstd_1_1vector.html">::vector<uint16_t></a> <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a93c2731a7d98de86175bb7762a76eca8">m_dat_mapy</a>;
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a809272f4f1794550ea3d280ff5fa7f5a">00095</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">::utils::TCamera</a> <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a809272f4f1794550ea3d280ff5fa7f5a" title="A copy of the data provided by the user.">m_camera_params</a>; <span class="comment">//!< A copy of the data provided by the user</span>
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 }; <span class="comment">// end class</span>
<a name="l00098"></a>00098 } <span class="comment">// end namespace</span>
<a name="l00099"></a>00099 } <span class="comment">// end namespace</span>
<a name="l00100"></a>00100 <span class="preprocessor">#endif</span>
</pre></div></div>
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