320 lines
11 KiB
C++
320 lines
11 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "_cv.h"
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static CvStatus
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icvUnDistort_8u_CnR( const uchar* src, int srcstep,
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uchar* dst, int dststep, CvSize size,
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const float* intrinsic_matrix,
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const float* dist_coeffs, int cn )
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{
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int u, v, i;
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float u0 = intrinsic_matrix[2], v0 = intrinsic_matrix[5];
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float fx = intrinsic_matrix[0], fy = intrinsic_matrix[4];
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float _fx = 1.f/fx, _fy = 1.f/fy;
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float k1 = dist_coeffs[0], k2 = dist_coeffs[1];
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float p1 = dist_coeffs[2], p2 = dist_coeffs[3];
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srcstep /= sizeof(src[0]);
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dststep /= sizeof(dst[0]);
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for( v = 0; v < size.height; v++, dst += dststep )
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{
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float y = (v - v0)*_fy;
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float y2 = y*y;
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float ky = 1 + (k1 + k2*y2)*y2;
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float k2y = 2*k2*y2;
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float _2p1y = 2*p1*y;
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float _3p1y2 = 3*p1*y2;
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float p2y2 = p2*y2;
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for( u = 0; u < size.width; u++ )
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{
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float x = (u - u0)*_fx;
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float x2 = x*x;
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float kx = (k1 + k2*x2)*x2;
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float d = kx + ky + k2y*x2;
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float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
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float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
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int iu = cvRound(_u*(1 << ICV_WARP_SHIFT));
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int iv = cvRound(_v*(1 << ICV_WARP_SHIFT));
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int ifx = iu & ICV_WARP_MASK;
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int ify = iv & ICV_WARP_MASK;
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iu >>= ICV_WARP_SHIFT;
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iv >>= ICV_WARP_SHIFT;
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float a0 = icvLinearCoeffs[ifx*2];
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float a1 = icvLinearCoeffs[ifx*2 + 1];
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float b0 = icvLinearCoeffs[ify*2];
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float b1 = icvLinearCoeffs[ify*2 + 1];
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if( (unsigned)iv < (unsigned)(size.height - 1) &&
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(unsigned)iu < (unsigned)(size.width - 1) )
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{
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const uchar* ptr = src + iv*srcstep + iu*cn;
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for( i = 0; i < cn; i++ )
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{
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float t0 = a1*CV_8TO32F(ptr[i]) + a0*CV_8TO32F(ptr[i+cn]);
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float t1 = a1*CV_8TO32F(ptr[i+srcstep]) + a0*CV_8TO32F(ptr[i + srcstep + cn]);
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dst[u*cn + i] = (uchar)cvRound(b1*t0 + b0*t1);
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}
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}
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else
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{
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for( i = 0; i < cn; i++ )
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dst[u*cn + i] = 0;
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}
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}
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}
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return CV_OK;
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}
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icvUndistortGetSize_t icvUndistortGetSize_p = 0;
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icvCreateMapCameraUndistort_32f_C1R_t icvCreateMapCameraUndistort_32f_C1R_p = 0;
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icvUndistortRadial_8u_C1R_t icvUndistortRadial_8u_C1R_p = 0;
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icvUndistortRadial_8u_C3R_t icvUndistortRadial_8u_C3R_p = 0;
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typedef CvStatus (CV_STDCALL * CvUndistortRadialIPPFunc)
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( const void* pSrc, int srcStep, void* pDst, int dstStep, CvSize roiSize,
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float fx, float fy, float cx, float cy, float k1, float k2, uchar *pBuffer );
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CV_IMPL void
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cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
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{
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static int inittab = 0;
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uchar* buffer = 0;
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CV_FUNCNAME( "cvUndistort2" );
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__BEGIN__;
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float a[9], k[4];
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int coi1 = 0, coi2 = 0;
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CvMat srcstub, *src = (CvMat*)_src;
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CvMat dststub, *dst = (CvMat*)_dst;
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CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
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int cn, src_step, dst_step;
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CvSize size;
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if( !inittab )
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{
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icvInitLinearCoeffTab();
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icvInitCubicCoeffTab();
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inittab = 1;
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}
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CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
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CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
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if( coi1 != 0 || coi2 != 0 )
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CV_ERROR( CV_BadCOI, "The function does not support COI" );
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if( CV_MAT_DEPTH(src->type) != CV_8U )
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CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
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if( src->data.ptr == dst->data.ptr )
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CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
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if( !CV_ARE_TYPES_EQ( src, dst ))
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CV_ERROR( CV_StsUnmatchedFormats, "" );
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if( !CV_ARE_SIZES_EQ( src, dst ))
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CV_ERROR( CV_StsUnmatchedSizes, "" );
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if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
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CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
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CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
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if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
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dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
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CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
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CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
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CV_ERROR( CV_StsBadArg,
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"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
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cvConvert( A, &_a );
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_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
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CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
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cvConvert( dist_coeffs, &_k );
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cn = CV_MAT_CN(src->type);
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size = cvGetMatSize(src);
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src_step = src->step ? src->step : CV_STUB_STEP;
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dst_step = dst->step ? dst->step : CV_STUB_STEP;
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if( fabs((double)k[2]) < 1e-5 && fabs((double)k[3]) < 1e-5 && icvUndistortGetSize_p )
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{
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int buf_size = 0;
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CvUndistortRadialIPPFunc func =
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cn == 1 ? (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C1R_p :
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(CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C3R_p;
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if( func && icvUndistortGetSize_p( size, &buf_size ) >= 0 && buf_size > 0 )
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{
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CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
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if( func( src->data.ptr, src_step, dst->data.ptr,
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dst_step, size, a[0], a[4],
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a[2], a[5], k[0], k[1], buffer ) >= 0 )
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EXIT;
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}
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}
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icvUnDistort_8u_CnR( src->data.ptr, src_step,
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dst->data.ptr, dst_step, size, a, k, cn );
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__END__;
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cvFree( &buffer );
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}
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CV_IMPL void
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cvInitUndistortMap( const CvMat* A, const CvMat* dist_coeffs,
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CvArr* mapxarr, CvArr* mapyarr )
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{
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uchar* buffer = 0;
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CV_FUNCNAME( "cvInitUndistortMap" );
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__BEGIN__;
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float a[9], k[4];
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int coi1 = 0, coi2 = 0;
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CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
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CvMat mapystub, *_mapy = (CvMat*)mapyarr;
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float *mapx, *mapy;
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CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
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int mapxstep, mapystep;
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int u, v;
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float u0, v0, fx, fy, _fx, _fy, k1, k2, p1, p2;
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CvSize size;
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CV_CALL( _mapx = cvGetMat( _mapx, &mapxstub, &coi1 ));
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CV_CALL( _mapy = cvGetMat( _mapy, &mapystub, &coi2 ));
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if( coi1 != 0 || coi2 != 0 )
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CV_ERROR( CV_BadCOI, "The function does not support COI" );
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if( CV_MAT_TYPE(_mapx->type) != CV_32FC1 )
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CV_ERROR( CV_StsUnsupportedFormat, "Both maps must have 32fC1 type" );
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if( !CV_ARE_TYPES_EQ( _mapx, _mapy ))
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CV_ERROR( CV_StsUnmatchedFormats, "" );
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if( !CV_ARE_SIZES_EQ( _mapx, _mapy ))
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CV_ERROR( CV_StsUnmatchedSizes, "" );
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if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
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CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
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CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
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if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
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dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
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CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
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CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
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CV_ERROR( CV_StsBadArg,
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"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
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cvConvert( A, &_a );
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_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
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CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
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cvConvert( dist_coeffs, &_k );
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u0 = a[2]; v0 = a[5];
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fx = a[0]; fy = a[4];
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_fx = 1.f/fx; _fy = 1.f/fy;
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k1 = k[0]; k2 = k[1];
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p1 = k[2]; p2 = k[3];
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mapxstep = _mapx->step ? _mapx->step : CV_STUB_STEP;
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mapystep = _mapy->step ? _mapy->step : CV_STUB_STEP;
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mapx = _mapx->data.fl;
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mapy = _mapy->data.fl;
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size = cvGetMatSize(_mapx);
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/*if( icvUndistortGetSize_p && icvCreateMapCameraUndistort_32f_C1R_p )
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{
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int buf_size = 0;
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if( icvUndistortGetSize_p( size, &buf_size ) && buf_size > 0 )
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{
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CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
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if( icvCreateMapCameraUndistort_32f_C1R_p(
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mapx, mapxstep, mapy, mapystep, size,
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a[0], a[4], a[2], a[5], k[0], k[1], k[2], k[3], buffer ) >= 0 )
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EXIT;
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}
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}*/
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mapxstep /= sizeof(mapx[0]);
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mapystep /= sizeof(mapy[0]);
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for( v = 0; v < size.height; v++, mapx += mapxstep, mapy += mapystep )
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{
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float y = (v - v0)*_fy;
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float y2 = y*y;
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float _2p1y = 2*p1*y;
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float _3p1y2 = 3*p1*y2;
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float p2y2 = p2*y2;
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for( u = 0; u < size.width; u++ )
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{
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float x = (u - u0)*_fx;
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float x2 = x*x;
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float r2 = x2 + y2;
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float d = 1 + (k1 + k2*r2)*r2;
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float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
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float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
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mapx[u] = _u;
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mapy[u] = _v;
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}
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}
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__END__;
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cvFree( &buffer );
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}
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/* End of file */
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