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::utils::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:
Definition at line 46 of file CUndistortMap.h.
#include <mrpt/vision/CUndistortMap.h>
Public Member Functions | |
CUndistortMap () | |
Default ctor. More... | |
void | setFromCamParams (const mrpt::utils::TCamera ¶ms) |
Prepares the mapping from the distortion parameters of a camera. More... | |
void | undistort (const mrpt::utils::CImage &in_img, mrpt::utils::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::utils::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::utils::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::utils::TCamera | m_camera_params |
A copy of the data provided by the user. More... | |
mrpt::vision::CUndistortMap::CUndistortMap | ( | ) |
Default ctor.
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inline |
Returns the camera parameters which were used to generate the distortion map, as passed by the user to setFromCamParams.
Definition at line 65 of file CUndistortMap.h.
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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 70 of file CUndistortMap.h.
void mrpt::vision::CUndistortMap::setFromCamParams | ( | const mrpt::utils::TCamera & | params | ) |
Prepares the mapping from the distortion parameters of a camera.
Must be called before invoking undistort().
void mrpt::vision::CUndistortMap::undistort | ( | const mrpt::utils::CImage & | in_img, |
mrpt::utils::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.
void mrpt::vision::CUndistortMap::undistort | ( | mrpt::utils::CImage & | in_out_img | ) | const |
Undistort the input image and saves the result in-place- setFromCamParams() must have been set prior to calling this.
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private |
A copy of the data provided by the user.
Definition at line 76 of file CUndistortMap.h.
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private |
Definition at line 73 of file CUndistortMap.h.
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private |
Definition at line 74 of file CUndistortMap.h.
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