CStereoRectifyMap.cpp

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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 |
   +------------------------------------------------------------------------+ */
 
#include "vision-precomp.h"  // Precompiled headers
#include <mrpt/vision/CStereoRectifyMap.h>
 
// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>
 
using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::vision;
using namespace mrpt::utils;
using namespace mrpt::math;
 
// Ctor: Leave all vectors empty
CStereoRectifyMap::CStereoRectifyMap()
        : m_alpha(-1),
          m_resize_output(false),
          m_enable_both_centers_coincide(false),
          m_resize_output_value(0, 0),
          m_interpolation_method(mrpt::utils::IMG_INTERP_LINEAR)
{
}
 
void CStereoRectifyMap::internal_invalidate()
{
        m_dat_mapx_left
                .clear();  // don't do a "strong clear" since memory is likely
        m_dat_mapx_right.clear();  // to be reasigned soon.
        m_dat_mapy_left.clear();
        m_dat_mapy_right.clear();
}
 
void CStereoRectifyMap::setAlpha(double alpha)
{
        m_alpha = alpha;
 
        this->internal_invalidate();
}
 
void CStereoRectifyMap::enableResizeOutput(
        bool enable, unsigned int target_width, unsigned int target_height)
{
        m_resize_output = enable;
        m_resize_output_value.x = target_width;
        m_resize_output_value.y = target_height;
 
        this->internal_invalidate();
}
 
void CStereoRectifyMap::enableBothCentersCoincide(bool enable)
{
        m_enable_both_centers_coincide = enable;
 
        this->internal_invalidate();
}
 
/** Prepares the mapping from the distortion parameters of a camera.
  * Must be called before invoking \a undistort().
  */
void CStereoRectifyMap::setFromCamParams(
        const mrpt::utils::TStereoCamera& params)
{
        MRPT_START
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        const mrpt::utils::TCamera& cam1 = params.leftCamera;
        const mrpt::utils::TCamera& cam2 = params.rightCamera;
 
        ASSERT_(cam1.ncols == cam2.ncols && cam1.nrows == cam2.nrows)
 
        const uint32_t ncols = cam1.ncols;
        const uint32_t nrows = cam1.nrows;
 
        const cv::Size trg_size =
                m_resize_output
                        ? cv::Size(
                                  m_resize_output_value.x,
                                  m_resize_output_value.y)  // User requested image scaling
                        : cv::Size();  // Default=don't scale
 
        const uint32_t ncols_out =
                m_resize_output ? m_resize_output_value.x : ncols;
        const uint32_t nrows_out =
                m_resize_output ? m_resize_output_value.y : nrows;
 
        // save a copy for future reference
        m_camera_params = params;
 
        // Create OpenCV's wrappers for output maps:
        m_dat_mapx_left.resize(2 * nrows_out * ncols_out);
        m_dat_mapy_left.resize(nrows_out * ncols_out);
 
        m_dat_mapx_right.resize(2 * nrows_out * ncols_out);
        m_dat_mapy_right.resize(nrows_out * ncols_out);
 
        CvMat mapx_left =
                cvMat(nrows_out, ncols_out, CV_16SC2, &m_dat_mapx_left[0]);
        CvMat mapy_left =
                cvMat(nrows_out, ncols_out, CV_16UC1, &m_dat_mapy_left[0]);
        CvMat mapx_right =
                cvMat(nrows_out, ncols_out, CV_16SC2, &m_dat_mapx_right[0]);
        CvMat mapy_right =
                cvMat(nrows_out, ncols_out, CV_16UC1, &m_dat_mapy_right[0]);
 
        cv::Mat _mapx_left = cv::cvarrToMat(&mapx_left, false);
        cv::Mat _mapy_left = cv::cvarrToMat(&mapy_left, false);
        cv::Mat _mapx_right = cv::cvarrToMat(&mapx_right, false);
        cv::Mat _mapy_right = cv::cvarrToMat(&mapy_right, false);
 
        // right camera pose: Rotation
        CMatrixDouble44 hMatrix;
        // NOTE!: OpenCV seems to expect the INVERSE of the pose we keep, so invert
        // it:
        params.rightCameraPose.getInverseHomogeneousMatrix(hMatrix);
 
        double m1[3][3];
        for (unsigned int i = 0; i < 3; ++i)
                for (unsigned int j = 0; j < 3; ++j) m1[i][j] = hMatrix(i, j);
 
        // right camera pose: translation
        double rcTrans[3] = {hMatrix(0, 3), hMatrix(1, 3), hMatrix(2, 3)};
 
        double ipl[3][3], ipr[3][3], dpl[5], dpr[5];
        for (unsigned int i = 0; i < 3; ++i)
                for (unsigned int j = 0; j < 3; ++j)
                {
                        ipl[i][j] = cam1.intrinsicParams(i, j);
                        ipr[i][j] = cam2.intrinsicParams(i, j);
                }
 
        for (unsigned int i = 0; i < 5; ++i)
        {
                dpl[i] = cam1.dist[i];
                dpr[i] = cam2.dist[i];
        }
 
        const cv::Mat R(3, 3, CV_64F, &m1);
        const cv::Mat T(3, 1, CV_64F, &rcTrans);
 
        const cv::Mat K1(3, 3, CV_64F, ipl);
        const cv::Mat K2(3, 3, CV_64F, ipr);
        const cv::Mat D1(1, 5, CV_64F, dpl);
        const cv::Mat D2(1, 5, CV_64F, dpr);
 
        double _R1[3][3], _R2[3][3], _P1[3][4], _P2[3][4], _Q[4][4];
        cv::Mat R1(3, 3, CV_64F, _R1);
        cv::Mat R2(3, 3, CV_64F, _R2);
        cv::Mat P1(3, 4, CV_64F, _P1);
        cv::Mat P2(3, 4, CV_64F, _P2);
        cv::Mat Q(4, 4, CV_64F, _Q);
 
        const cv::Size img_size(ncols, nrows);
        const cv::Size real_trg_size =
                m_resize_output ? trg_size
                                                : img_size;  // Note: trg_size is Size() by default
 
/*
OpenCV 2.0:
CV_EXPORTS void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
                                                           const Mat& cameraMatrix2, const Mat& distCoeffs2,
                                                           Size imageSize, const Mat& R, const Mat& T,
                                                           Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
                                                           int flags=CALIB_ZERO_DISPARITY );
 
OpenCV 2.1-2.2:
CV_EXPORTS_W void stereoRectify( const Mat& cameraMatrix1, const Mat&
distCoeffs1,
                                                                 const Mat& cameraMatrix2, const Mat&
distCoeffs2,
                                                                 Size imageSize, const Mat& R, const Mat& T,
                                                                 CV_OUT Mat& R1, CV_OUT Mat& R2,
                                                                 CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& Q,
                                                                 double alpha, Size newImageSize=Size(),
                                                                 CV_OUT Rect* validPixROI1=0, CV_OUT Rect*
validPixROI2=0,
                                                                 int flags=CALIB_ZERO_DISPARITY );
 
OpenCV 2.3:
CV_EXPORTS void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs1,
                                                           InputArray cameraMatrix2, InputArray distCoeffs2,
                                                           Size imageSize, InputArray R, InputArray T,
                                                           OutputArray R1, OutputArray R2,
                                                           OutputArray P1, OutputArray P2,
                                                           OutputArray Q, int flags=CALIB_ZERO_DISPARITY,
                                                           double alpha=-1, Size newImageSize=Size(),
                                                           CV_OUT Rect* validPixROI1=0, CV_OUT Rect*
validPixROI2=0 );
*/
#if MRPT_OPENCV_VERSION_NUM < 0x210
        // OpenCV 2.0.X
        cv::stereoRectify(
                K1, D1, K2, D2, img_size, R, T, R1, R2, P1, P2, Q,
                m_enable_both_centers_coincide ? cv::CALIB_ZERO_DISPARITY : 0);
#elif MRPT_OPENCV_VERSION_NUM < 0x230
        // OpenCV 2.1.X - 2.2.X
        cv::stereoRectify(
                K1, D1, K2, D2, img_size, R, T, R1, R2, P1, P2, Q, m_alpha,
                trg_size,  // Size() by default=no resize
                nullptr, nullptr,  // Out ROIs
                m_enable_both_centers_coincide ? cv::CALIB_ZERO_DISPARITY : 0);
#else
        // OpenCV 2.3+ has this signature:
        cv::stereoRectify(
                K1, D1, K2, D2, img_size, R, T, R1, R2, P1, P2, Q,
                m_enable_both_centers_coincide ? cv::CALIB_ZERO_DISPARITY : 0, m_alpha,
                trg_size  // Size() by default=no resize
                );
// Rest of arguments -> default
#endif
 
        cv::initUndistortRectifyMap(
                K1, D1, R1, P1, real_trg_size, CV_16SC2, _mapx_left, _mapy_left);
        cv::initUndistortRectifyMap(
                K2, D2, R2, P2, real_trg_size, CV_16SC2, _mapx_right, _mapy_right);
 
        // Populate the parameter matrices of the output rectified images:
        for (unsigned int i = 0; i < 3; ++i)
                for (unsigned int j = 0; j < 3; ++j)
                {
                        m_rectified_image_params.leftCamera.intrinsicParams(i, j) =
                                _P1[i][j];
                        m_rectified_image_params.rightCamera.intrinsicParams(i, j) =
                                _P2[i][j];
                }
        // They have no distortion:
        m_rectified_image_params.leftCamera.dist.fill(0);
        m_rectified_image_params.rightCamera.dist.fill(0);
 
        // Target image size:
        m_rectified_image_params.leftCamera.ncols = real_trg_size.width;
        m_rectified_image_params.leftCamera.nrows = real_trg_size.height;
 
        m_rectified_image_params.rightCamera.ncols = real_trg_size.width;
        m_rectified_image_params.rightCamera.nrows = real_trg_size.height;
 
        // Rest of params don't change:
        m_rectified_image_params.leftCamera.focalLengthMeters =
                params.leftCamera.focalLengthMeters;
        m_rectified_image_params.rightCamera.focalLengthMeters =
                params.rightCamera.focalLengthMeters;
 
        // R1: Rotation of left camera after rectification:
        // R2: idem for right cam:
        const Eigen::Map<Eigen::Matrix3d> R1e(R1.ptr<double>());
        const Eigen::Map<Eigen::Matrix3d> R2e(R2.ptr<double>());
 
        CPose3D RR1, RR2;
        RR1.setRotationMatrix(R1e);
        RR2.setRotationMatrix(R2e);
        m_rot_left = CPose3DQuat(RR1);
        m_rot_right = CPose3DQuat(RR2);
 
        m_rectified_image_params.rightCameraPose = params.rightCameraPose;
 
#else
        THROW_EXCEPTION("MRPT built without OpenCV >=2.0.0!")
#endif
        MRPT_END
}
 
void CStereoRectifyMap::rectify(
        const mrpt::utils::CImage& in_left_image,
        const mrpt::utils::CImage& in_right_image,
        mrpt::utils::CImage& out_left_image,
        mrpt::utils::CImage& out_right_image) const
{
        MRPT_START
 
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        const uint32_t ncols = m_camera_params.leftCamera.ncols;
        const uint32_t nrows = m_camera_params.leftCamera.nrows;
 
        const CvSize trg_size =
                m_resize_output
                        ? cvSize(m_resize_output_value.x, m_resize_output_value.y)
                        : cvSize(ncols, nrows);
 
        out_left_image.resize(
                trg_size.width, trg_size.height, in_left_image.isColor() ? 3 : 1,
                in_left_image.isOriginTopLeft());
        out_right_image.resize(
                trg_size.width, trg_size.height, in_left_image.isColor() ? 3 : 1,
                in_left_image.isOriginTopLeft());
 
        const IplImage* in_left = in_left_image.getAs<IplImage>();
        const IplImage* in_right = in_right_image.getAs<IplImage>();
 
        IplImage* out_left = out_left_image.getAs<IplImage>();
        IplImage* out_right = out_right_image.getAs<IplImage>();
 
        this->rectify_IPL(in_left, in_right, out_left, out_right);
 
#endif
        MRPT_END
}
 
// In place:
void CStereoRectifyMap::rectify(
        mrpt::utils::CImage& left_image, mrpt::utils::CImage& right_image,
        const bool use_internal_mem_cache) const
{
        MRPT_START
 
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        const uint32_t ncols = m_camera_params.leftCamera.ncols;
        const uint32_t nrows = m_camera_params.leftCamera.nrows;
 
        const CvSize trg_size =
                m_resize_output
                        ? cvSize(m_resize_output_value.x, m_resize_output_value.y)
                        : cvSize(ncols, nrows);
 
        const IplImage* in_left = left_image.getAs<IplImage>();
        const IplImage* in_right = right_image.getAs<IplImage>();
 
        IplImage *out_left_image, *out_right_image;
        if (use_internal_mem_cache)
        {
                m_cache1.resize(
                        trg_size.width, trg_size.height, left_image.isColor() ? 3 : 1,
                        left_image.isOriginTopLeft());
                m_cache2.resize(
                        trg_size.width, trg_size.height, right_image.isColor() ? 3 : 1,
                        right_image.isOriginTopLeft());
 
                out_left_image = m_cache1.getAs<IplImage>();
                out_right_image = m_cache2.getAs<IplImage>();
        }
        else
        {
                out_left_image =
                        cvCreateImage(trg_size, in_left->depth, in_left->nChannels);
                out_right_image =
                        cvCreateImage(trg_size, in_right->depth, in_right->nChannels);
        }
 
        this->rectify_IPL(in_left, in_right, out_left_image, out_right_image);
 
        if (use_internal_mem_cache)
        {
                // Copy the data: we have avoided one allocation & one deallocation
                // (If the sizes match, these calls have no effects)
                left_image.resize(
                        trg_size.width, trg_size.height, left_image.isColor() ? 3 : 1,
                        left_image.isOriginTopLeft());
                right_image.resize(
                        trg_size.width, trg_size.height, right_image.isColor() ? 3 : 1,
                        right_image.isOriginTopLeft());
 
                cvCopy(out_left_image, left_image.getAs<IplImage>());
                cvCopy(out_right_image, right_image.getAs<IplImage>());
        }
        else
        {
                // Move the internal pointers: but we deallocate the old contents and
                // needed to allocate this one
                left_image.setFromIplImage(out_left_image);
                right_image.setFromIplImage(out_right_image);
        }
 
#endif
        MRPT_END
}
 
/** Overloaded version for in-place rectification of image pairs stored in a
 * mrpt::obs::CObservationStereoImages.
  *  Upon return, the new camera intrinsic parameters will be already stored in
 * the observation object.
  */
void CStereoRectifyMap::rectify(
        mrpt::obs::CObservationStereoImages& stereo_image_observation,
        const bool use_internal_mem_cache) const
{
        MRPT_START
        ASSERT_(stereo_image_observation.hasImageRight)
 
        // Rectify images:
        this->rectify(
                stereo_image_observation.imageLeft, stereo_image_observation.imageRight,
                use_internal_mem_cache);
 
        // Copy output image parameters:
        stereo_image_observation.setStereoCameraParams(
                this->m_rectified_image_params);
 
        // Correct poses:
        stereo_image_observation.cameraPose += m_rot_left;
 
        const double d = stereo_image_observation.rightCameraPose.m_coords.norm();
        // the translation is now pure in the +X direction:
        stereo_image_observation.rightCameraPose =
                CPose3DQuat(d, .0, .0, mrpt::math::CQuaternionDouble());
 
        MRPT_END
}
 
/** Just like rectify() but directly works with OpenCV's "IplImage*", which must
 * be passed as "void*" to avoid header dependencies */
void CStereoRectifyMap::rectify_IPL(
        const void* srcImg_left, const void* srcImg_right, void* outImg_left,
        void* outImg_right) const
{
        MRPT_START
        ASSERT_(srcImg_left != outImg_left && srcImg_right != outImg_right)
 
        if (!isSet())
                THROW_EXCEPTION(
                        "Error: setFromCamParams() must be called prior to rectify().")
 
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
        const uint32_t ncols = m_camera_params.leftCamera.ncols;
        const uint32_t nrows = m_camera_params.leftCamera.nrows;
 
        const uint32_t ncols_out =
                m_resize_output ? m_resize_output_value.x : ncols;
        const uint32_t nrows_out =
                m_resize_output ? m_resize_output_value.y : nrows;
 
        const CvMat mapx_left = cvMat(
                nrows_out, ncols_out, CV_16SC2,
                const_cast<int16_t*>(&m_dat_mapx_left[0]));
        const CvMat mapy_left = cvMat(
                nrows_out, ncols_out, CV_16UC1,
                const_cast<uint16_t*>(&m_dat_mapy_left[0]));
        const CvMat mapx_right = cvMat(
                nrows_out, ncols_out, CV_16SC2,
                const_cast<int16_t*>(&m_dat_mapx_right[0]));
        const CvMat mapy_right = cvMat(
                nrows_out, ncols_out, CV_16UC1,
                const_cast<uint16_t*>(&m_dat_mapy_right[0]));
 
        const cv::Mat mapx1 = cv::cvarrToMat(&mapx_left);
        const cv::Mat mapy1 = cv::cvarrToMat(&mapy_left);
        const cv::Mat mapx2 = cv::cvarrToMat(&mapx_right);
        const cv::Mat mapy2 = cv::cvarrToMat(&mapy_right);
 
        const cv::Mat src1 = cv::cvarrToMat(srcImg_left);
        const cv::Mat src2 = cv::cvarrToMat(srcImg_right);
        cv::Mat dst1 = cv::cvarrToMat(outImg_left);
        cv::Mat dst2 = cv::cvarrToMat(outImg_right);
 
        cv::remap(
                src1, dst1, mapx1, mapy1, static_cast<int>(m_interpolation_method),
                cv::BORDER_CONSTANT, cvScalarAll(0));
        cv::remap(
                src2, dst2, mapx2, mapy2, static_cast<int>(m_interpolation_method),
                cv::BORDER_CONSTANT, cvScalarAll(0));
#endif
        MRPT_END
}
 
const mrpt::utils::TStereoCamera& CStereoRectifyMap::getRectifiedImageParams()
        const
{
        if (!isSet())
                THROW_EXCEPTION("Error: setFromCamParams() must be called before.")
        return m_rectified_image_params;
}
 
const mrpt::utils::TCamera& CStereoRectifyMap::getRectifiedLeftImageParams()
        const
{
        if (!isSet())
                THROW_EXCEPTION("Error: setFromCamParams() must be called before.")
        return m_rectified_image_params.leftCamera;
}
 
const mrpt::utils::TCamera& CStereoRectifyMap::getRectifiedRightImageParams()
        const
{
        if (!isSet())
                THROW_EXCEPTION("Error: setFromCamParams() must be called before.")
        return m_rectified_image_params.rightCamera;
}
 
void CStereoRectifyMap::setRectifyMaps(
        const std::vector<int16_t>& left_x, const std::vector<uint16_t>& left_y,
        const std::vector<int16_t>& right_x, const std::vector<uint16_t>& right_y)
{
        m_dat_mapx_left.resize(left_x.size());
        m_dat_mapy_left.resize(left_y.size());
        m_dat_mapx_right.resize(right_x.size());
        m_dat_mapy_right.resize(right_y.size());
 
        std::copy(left_x.begin(), left_x.end(), m_dat_mapx_left.begin());
        std::copy(left_y.begin(), left_y.end(), m_dat_mapy_left.begin());
        std::copy(right_x.begin(), right_x.end(), m_dat_mapx_right.begin());
        std::copy(right_y.begin(), right_y.end(), m_dat_mapy_right.begin());
}
 
void CStereoRectifyMap::setRectifyMapsFast(
        std::vector<int16_t>& left_x, std::vector<uint16_t>& left_y,
        std::vector<int16_t>& right_x, std::vector<uint16_t>& right_y)
{
        left_x.swap(m_dat_mapx_left);
        left_y.swap(m_dat_mapy_left);
        right_x.swap(m_dat_mapx_right);
        right_y.swap(m_dat_mapy_right);
}