Rectification.cpp

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
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// ****************************************************************************
// ****************************************************************************
// Filename:  Rectification.cpp
// Author:    Pedram Azad
// Date:      04.10.2008
// ****************************************************************************


// ****************************************************************************
// Includes
// ****************************************************************************

#include <new> // for explicitly using correct new/delete operators on VC DSPs

#include "Rectification.h"

#include "Image/ByteImage.h"
#include "Calibration/Calibration.h"
#include "Calibration/StereoCalibration.h"

#include <stdio.h>



// ****************************************************************************
// class CRectification::CRectificationMapper
// ****************************************************************************

void CRectification::CRectificationMapper::Init(const Mat3d &homography, const CCalibration *pCalibration)
{
        m_pCalibration = pCalibration;
        Math3d::SetMat(m_homography, homography);

        ComputeMap(m_pCalibration->GetCameraParameters().width, m_pCalibration->GetCameraParameters().height);
}

void CRectification::CRectificationMapper::ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates)
{
        Math2d::ApplyHomography(m_homography, newCoordinates, originalCoordinates);

        if (m_bUndistort)
        {
                // this is not a bug to distort; mapping needs inverse function!
                m_pCalibration->DistortImageCoordinates(originalCoordinates, originalCoordinates);
        }
}



// ****************************************************************************
// Constructor / Destructor
// ****************************************************************************

CRectification::CRectification(bool bInterpolate, bool bUndistort)
{
        m_pStereoCalibration = new CStereoCalibration();
        m_pUsedStereoCalibration = 0;

        m_pRectificationMapperLeft = new CRectificationMapper(bInterpolate, bUndistort);
        m_pRectificationMapperRight = new CRectificationMapper(bInterpolate, bUndistort);
}

CRectification::~CRectification()
{
        delete m_pStereoCalibration;

        delete m_pRectificationMapperLeft;
        delete m_pRectificationMapperRight;
}


// ****************************************************************************
// methods
// ****************************************************************************

bool CRectification::Init(const char *pCameraParameterFileName)
{
        if (m_pStereoCalibration->LoadCameraParameters(pCameraParameterFileName))
        {
                m_pUsedStereoCalibration = m_pStereoCalibration;

                UpdateMaps();

                return true;
        }
        
        return false;
}

void CRectification::Init(const CStereoCalibration *pStereoCalibration)
{
        m_pUsedStereoCalibration = pStereoCalibration;

        UpdateMaps();
}


void CRectification::UpdateMaps()
{
        if (!m_pUsedStereoCalibration)
        {
                printf("error: CRectification object has not been initialized for CRectification::UpdateMaps\n");
                return;
        }
        
        m_pRectificationMapperLeft->Init(m_pUsedStereoCalibration->rectificationHomographyLeft, m_pUsedStereoCalibration->GetLeftCalibration());
        m_pRectificationMapperRight->Init(m_pUsedStereoCalibration->rectificationHomographyRight, m_pUsedStereoCalibration->GetRightCalibration());
}

void CRectification::Rectify(const CByteImage * const *ppInputImages, CByteImage **ppOutputImages)
{
        m_pRectificationMapperLeft->PerformMapping(ppInputImages[0], ppOutputImages[0]);
        m_pRectificationMapperRight->PerformMapping(ppInputImages[1], ppOutputImages[1]);
}