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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1vision.html">vision</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html">CUndistortMap</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::vision::CUndistortMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<!-- doxytag: class="mrpt::vision::CUndistortMap" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Use this class to undistort images if the same distortion map is used over and over again. </p>
<p>Using this class is much more efficient that calling <a class="el" href="classmrpt_1_1utils_1_1_c_image.html#a543afd4be92f7c35ebe58c664ab82452" title="Rectify (un-distort) the image according to some camera parameters, and returns an output un-distorte...">mrpt::utils::CImage::rectifyImage</a> 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).</p>
<p>Works with grayscale or color images.</p>
<p>Example of usage: </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="classmrpt_1_1vision_1_1_c_undistort_map.html#ace0bbf5d3ac1fb7ed3fa3837eb579ee8" title="Default ctor.">CUndistortMap</a> unmap;
mrpt::utils::TCamera cam_params;
unmap.setFromCamParams( cam_params );
mrpt::utils::CImage img, img_out;
<span class="keywordflow">while</span> (<span class="keyword">true</span>) {
unmap.undistort(img, img_out); <span class="comment">// or:</span>
unmap.undistort(img); <span class="comment">// output in place</span>
}
</pre></div><dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a>, the application <a href="http://www.mrpt.org/Application:camera-calib">camera-calib</a> for calibrating a camera. </dd></dl>
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<p><code>#include <<a class="el" href="_c_undistort_map_8h_source.html">mrpt/vision/CUndistortMap.h</a>></code></p>
<p><a href="classmrpt_1_1vision_1_1_c_undistort_map-members.html">List of all members.</a></p>
<table class="memberdecls">
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Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#ace0bbf5d3ac1fb7ed3fa3837eb579ee8">CUndistortMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default ctor. <a href="#ace0bbf5d3ac1fb7ed3fa3837eb579ee8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879">setFromCamParams</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prepares the mapping from the distortion parameters of a camera. <a href="#a0aa76b000979481b57f8efa7d231a879"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a839a65490e5652b17c8178c3f39f052e">undistort</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &in_img, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &out_img) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Undistort the input image and saves the result in the output one - <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> must have been set prior to calling this. <a href="#a839a65490e5652b17c8178c3f39f052e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a2b9f7fa9cfebcc5e348bb78f1535d5fa">undistort</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &in_out_img) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Undistort the input image and saves the result in-place- <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> must have been set prior to calling this. <a href="#a2b9f7fa9cfebcc5e348bb78f1535d5fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a1b30a1e7a1adef9b0c0087a3aa2195c8">getCameraParams</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the camera parameters which were used to generate the distortion map, as passed by the user to <em>setFromCamParams</em>. <a href="#a1b30a1e7a1adef9b0c0087a3aa2195c8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a2f2f1feba7eed39d28574323b3c61cd7">isSet</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> has been already called, false otherwise. <a href="#a2f2f1feba7eed39d28574323b3c61cd7"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< int16_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a73a9180d3527c710627faf0a603724ac">m_dat_mapx</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< uint16_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a93c2731a7d98de86175bb7762a76eca8">m_dat_mapy</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a809272f4f1794550ea3d280ff5fa7f5a">m_camera_params</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A copy of the data provided by the user. <a href="#a809272f4f1794550ea3d280ff5fa7f5a"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ace0bbf5d3ac1fb7ed3fa3837eb579ee8"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::CUndistortMap" ref="ace0bbf5d3ac1fb7ed3fa3837eb579ee8" args="()" -->
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<td class="memname">mrpt::vision::CUndistortMap::CUndistortMap </td>
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<p>Default ctor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a1b30a1e7a1adef9b0c0087a3aa2195c8"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::getCameraParams" ref="a1b30a1e7a1adef9b0c0087a3aa2195c8" args="() const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a>& mrpt::vision::CUndistortMap::getCameraParams </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Returns the camera parameters which were used to generate the distortion map, as passed by the user to <em>setFromCamParams</em>. </p>
<p>Definition at line <a class="el" href="_c_undistort_map_8h_source.html#l00084">84</a> of file <a class="el" href="_c_undistort_map_8h_source.html">CUndistortMap.h</a>.</p>
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<a class="anchor" id="a2f2f1feba7eed39d28574323b3c61cd7"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::isSet" ref="a2f2f1feba7eed39d28574323b3c61cd7" args="() const " -->
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<td class="memname">bool mrpt::vision::CUndistortMap::isSet </td>
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<td> const<code> [inline]</code></td>
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<p>Returns true if <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> has been already called, false otherwise. </p>
<p>Can be used within loops to determine the first usage of the object and when it needs to be initialized. </p>
<p>Definition at line <a class="el" href="_c_undistort_map_8h_source.html#l00089">89</a> of file <a class="el" href="_c_undistort_map_8h_source.html">CUndistortMap.h</a>.</p>
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<a class="anchor" id="a0aa76b000979481b57f8efa7d231a879"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::setFromCamParams" ref="a0aa76b000979481b57f8efa7d231a879" args="(const mrpt::utils::TCamera &params)" -->
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<td class="memname">void mrpt::vision::CUndistortMap::setFromCamParams </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> & </td>
<td class="paramname"><em>params</em></td><td>)</td>
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<p>Prepares the mapping from the distortion parameters of a camera. </p>
<p>Must be called before invoking <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a839a65490e5652b17c8178c3f39f052e" title="Undistort the input image and saves the result in the output one - setFromCamParams() must have been ...">undistort()</a></em>. </p>
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<a class="anchor" id="a839a65490e5652b17c8178c3f39f052e"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::undistort" ref="a839a65490e5652b17c8178c3f39f052e" args="(const mrpt::utils::CImage &in_img, mrpt::utils::CImage &out_img) const " -->
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<td class="memname">void mrpt::vision::CUndistortMap::undistort </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> & </td>
<td class="paramname"><em>in_img</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> & </td>
<td class="paramname"><em>out_img</em> </td>
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<p>Undistort the input image and saves the result in the output one - <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> must have been set prior to calling this. </p>
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<a class="anchor" id="a2b9f7fa9cfebcc5e348bb78f1535d5fa"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::undistort" ref="a2b9f7fa9cfebcc5e348bb78f1535d5fa" args="(mrpt::utils::CImage &in_out_img) const " -->
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<td class="memname">void mrpt::vision::CUndistortMap::undistort </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> & </td>
<td class="paramname"><em>in_out_img</em></td><td>)</td>
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<p>Undistort the input image and saves the result in-place- <em><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a0aa76b000979481b57f8efa7d231a879" title="Prepares the mapping from the distortion parameters of a camera.">setFromCamParams()</a></em> must have been set prior to calling this. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a809272f4f1794550ea3d280ff5fa7f5a"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::m_camera_params" ref="a809272f4f1794550ea3d280ff5fa7f5a" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> <a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a809272f4f1794550ea3d280ff5fa7f5a">mrpt::vision::CUndistortMap::m_camera_params</a><code> [private]</code></td>
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<p>A copy of the data provided by the user. </p>
<p>Definition at line <a class="el" href="_c_undistort_map_8h_source.html#l00095">95</a> of file <a class="el" href="_c_undistort_map_8h_source.html">CUndistortMap.h</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><int16_t> <a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a73a9180d3527c710627faf0a603724ac">mrpt::vision::CUndistortMap::m_dat_mapx</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_undistort_map_8h_source.html#l00092">92</a> of file <a class="el" href="_c_undistort_map_8h_source.html">CUndistortMap.h</a>.</p>
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<a class="anchor" id="a93c2731a7d98de86175bb7762a76eca8"></a><!-- doxytag: member="mrpt::vision::CUndistortMap::m_dat_mapy" ref="a93c2731a7d98de86175bb7762a76eca8" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><uint16_t> <a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html#a93c2731a7d98de86175bb7762a76eca8">mrpt::vision::CUndistortMap::m_dat_mapy</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_undistort_map_8h_source.html#l00093">93</a> of file <a class="el" href="_c_undistort_map_8h_source.html">CUndistortMap.h</a>.</p>
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