mitkUndistortCameraImage.h

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/*=========================================================================

Program:   Medical Imaging & Interaction Toolkit
Language:  C++
Date:      $Date$
Version:   $Revision$

Copyright (c) German Cancer Research Center, Division of Medical and
Biological Informatics. All rights reserved.
See MITKCopyright.txt or https://www.mitk.org/copyright.html for details.

This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.  See the above copyright notices for more information.

=========================================================================*/

#ifndef __mitkUndistortCameraImage_h
#define __mitkUndistortCameraImage_h

#include "mitkConfig.h"
#include "mitkCommon.h"
#include <mitkOpenCVVideoSupportExports.h>
#include "itkObject.h"
#include "itkObjectFactory.h"

#include "mitkVector.h"
#include "cv.h"

namespace mitk
{

class MITK_OPENCVVIDEOSUPPORT_EXPORT UndistortCameraImage : public itk::Object
{
  public:

    mitkClassMacro(UndistortCameraImage,itk::Object);
    itkNewMacro(Self);

    /*
    * Set the camera's intrinsic focal length
    */
    void SetFocalLength(float fc_x, float fc_y)
    {
      m_fcX = fc_x; m_fcY = fc_y;
    }
    /*
    * Set the camera's intrinsic principal point
    */
    void SetPrincipalPoint(float cc_x, float cc_y)
    {
      m_ccX = cc_x; m_ccY = cc_y;
    }
    /*
    * Set the camera's intrinsic distortion parameters
    */
    void SetCameraDistortion(float kc1, float kc2, float kc3, float kc4)
    {
      m_distortionMatrixData[0] = kc1; m_distortionMatrixData[1] = kc2;
      m_distortionMatrixData[2] = kc3; m_distortionMatrixData[3] = kc4;
    }
    /*
    * Pre-Calculates matrices for the later use of UndistortImageFast()
    */
    void InitRemapUndistortion(int sizeX, int sizeY);

    /*
    * Undistort a single pixel, returns undistorted pixel
    */
    mitk::Point2D UndistortPixel(mitk::Point2D src);
    /*
    * Complete undistortion of an OpenCV image, including all calculations
    */
    void UndistortImage(IplImage* src, IplImage* dst);


    /*
    * Complete undistortion of an OpenCV image, using pre-calculated matrices from SetUndistortImageFastInfo()
    * The use of only a source parameter will cause the source to be overwritten.
    * NOTE: Using the Fast undistortion methods does not require a initialization via the Set... methods.
    */
    void UndistortImageFast( IplImage * src, IplImage* dst = NULL );
    void SetUndistortImageFastInfo(float in_dF1, float in_dF2,
                                   float in_dPrincipalX, float in_dPrincipalY,
                                   float in_Dist[4], float ImageSizeX, float ImageSizeY);

    UndistortCameraImage();
    virtual ~UndistortCameraImage();

  protected:

    // principal point and focal length parameters
    float m_ccX, m_ccY, m_fcX, m_fcY;
    // undistortion parameters
    float m_distortionMatrixData[4];
    // intrinsic camera parameters
    float m_intrinsicMatrixData[9];
    // precalculated matrices for fast image undistortion with UndistortImageFast()
    CvMat * m_mapX, * m_mapY;
    // intrinsic and undistortion camera matrices
    CvMat m_intrinsicMatrix, m_distortionMatrix;
    // temp image
    IplImage * m_tempImage;



    CvMat *m_DistortionCoeffs;
    CvMat *m_CameraMatrix;
};

}

#endif