mrpt::vision::CUndistortMap Class Reference

Detailed Description

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:

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
}

See also

CStereoRectifyMap, mrpt::img::TCamera, the application camera-calib for calibrating a camera.

Definition at line 46 of file CUndistortMap.h.

#include <mrpt/vision/CUndistortMap.h>

Public Member Functions
	CUndistortMap ()
	Default ctor. More...
void	setFromCamParams (const mrpt::img::TCamera &params)
	Prepares the mapping from the distortion parameters of a camera. More...
void	undistort (const mrpt::img::CImage &in_img, mrpt::img::CImage &out_img) const
	Undistort the input image and saves the result in the output one - setFromCamParams() must have been set prior to calling this. More...
void	undistort (mrpt::img::CImage &in_out_img) const
	Undistort the input image and saves the result in-place- setFromCamParams() must have been set prior to calling this. More...
const mrpt::img::TCamera &	getCameraParams () const
	Returns the camera parameters which were used to generate the distortion map, as passed by the user to setFromCamParams. More...
bool	isSet () const
	Returns true if setFromCamParams() has been already called, false otherwise. More...

Private Attributes
std::vector< int16_t >	m_dat_mapx
std::vector< uint16_t >	m_dat_mapy
mrpt::img::TCamera	m_camera_params
	A copy of the data provided by the user. More...

Constructor & Destructor Documentation

CUndistortMap()

CUndistortMap::CUndistortMap ( )

default

Default ctor.

Member Function Documentation

getCameraParams()

const mrpt::img::TCamera& mrpt::vision::CUndistortMap::getCameraParams ( ) const

inline

Returns the camera parameters which were used to generate the distortion map, as passed by the user to setFromCamParams.

Definition at line 70 of file CUndistortMap.h.

References m_camera_params.

isSet()

bool mrpt::vision::CUndistortMap::isSet ( ) const

inline

Returns true if 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.

Definition at line 80 of file CUndistortMap.h.

References m_dat_mapx.

setFromCamParams()

void CUndistortMap::setFromCamParams

(

const mrpt::img::TCamera &

campar

)

Prepares the mapping from the distortion parameters of a camera.

Must be called before invoking undistort().

Definition at line 26 of file CUndistortMap.cpp.

References mrpt::img::TCamera::dist, mrpt::img::TCamera::intrinsicParams, MRPT_END, MRPT_START, mrpt::img::TCamera::ncols, mrpt::img::TCamera::nrows, and THROW_EXCEPTION.

undistort() [1/2]

void CUndistortMap::undistort	(	const mrpt::img::CImage &	in_img,
		mrpt::img::CImage &	out_img
	)		const

Undistort the input image and saves the result in the output one - setFromCamParams() must have been set prior to calling this.

Undistort the input image and saves the result in-place- setFromCamParams() must have been set prior to calling this.

Definition at line 58 of file CUndistortMap.cpp.

References mrpt::img::CImage::asCvMat(), mrpt::img::CImage::getChannelCount(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, mrpt::img::CImage::resize(), mrpt::img::SHALLOW_COPY, and THROW_EXCEPTION.

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undistort() [2/2]

void CUndistortMap::undistort

(

mrpt::img::CImage &

in_out_img

)

const

Undistort the input image and saves the result in-place- setFromCamParams() must have been set prior to calling this.

Definition at line 88 of file CUndistortMap.cpp.

References mrpt::img::CImage::asCvMat(), MRPT_END, MRPT_START, out, mrpt::img::SHALLOW_COPY, and THROW_EXCEPTION.

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Member Data Documentation

m_camera_params

mrpt::img::TCamera mrpt::vision::CUndistortMap::m_camera_params

private

A copy of the data provided by the user.

Definition at line 87 of file CUndistortMap.h.

Referenced by getCameraParams().

m_dat_mapx

std::vector<int16_t> mrpt::vision::CUndistortMap::m_dat_mapx

private

Definition at line 83 of file CUndistortMap.h.

Referenced by isSet().

m_dat_mapy

std::vector<uint16_t> mrpt::vision::CUndistortMap::m_dat_mapy

private

Definition at line 84 of file CUndistortMap.h.