UndistortionSimple.cpp

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// ****************************************************************************
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// ****************************************************************************
// ****************************************************************************
// Filename:  UndistortionSimple.cpp
// Author:    Pedram Azad
// Date:      11.10.2011
// ****************************************************************************


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

#include "UndistortionSimple.h"

#include "Image/ByteImage.h"
#include "Math/Math2d.h"

#include <stdio.h>



// ****************************************************************************
// class CUndistortion::CUndistortionMapper
// ****************************************************************************

void CUndistortionSimple::CUndistortionMapper::Init(int width, int height, float d)
{
        this->d = d;
        this->cx = 0.5f * float(width - 1);
        this->cy = 0.5f * float(height - 1);
        
        ComputeMap(width, height);
}

void CUndistortionSimple::CUndistortionMapper::ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates)
{
        // radial distortion with one parameter d
        const float x = newCoordinates.x - cx;
        const float y = newCoordinates.y - cy;
        
        const float rr = x * x + y * y;
        const float factor = 1.0f + d * rr;
        
        originalCoordinates.x = cx + factor * x;
        originalCoordinates.y = cy + factor * y;
}



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

CUndistortionSimple::CUndistortionSimple(int width, int height, float d, bool bInterpolate)
{
        this->width = width;
        this->height = height;
        
        m_pUndistortionMapper = new CUndistortionMapper(bInterpolate);
        m_pUndistortionMapper->Init(width, height, d);
}

CUndistortionSimple::~CUndistortionSimple()
{
        delete m_pUndistortionMapper;
}


// ****************************************************************************
// Methods
// ****************************************************************************

void CUndistortionSimple::Undistort(const CByteImage *pInputImage, CByteImage *pOutputImage)
{
        m_pUndistortionMapper->PerformMapping(pInputImage, pOutputImage);
}