Undistortion.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  Undistortion.h
// Author:    Pedram Azad
// Date:      04.10.2008
// ****************************************************************************


#ifndef _UNDISTORTION_H_
#define _UNDISTORTION_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Image/ImageMapper.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CByteImage;
class CCalibration;
class CStereoCalibration;
struct Vec2d;



// ****************************************************************************
// CUndistortion
// ****************************************************************************

class CUndistortion
{
public:
        // constructor
        CUndistortion(bool bInterpolate = true);

        // destructor
        ~CUndistortion();


        // public methods

        // initialize by reading a camera parameter file
        int Init(const char *pCameraParameterFileName);

        // initialize by setting a calibration object
        void Init(const CCalibration *pCalibration);
        void Init(const CStereoCalibration *pStereoCalibration);
        // use this method for re-calculating the maps (not needed for static calibrations)
        void UpdateMaps();

        void Undistort(const CByteImage *pInputImage, CByteImage *pOutputImage);
        void Undistort(const CByteImage * const *ppInputImages, CByteImage **ppOutputImages);
        
        
private:
        class CUndistortionMapper : public CImageMapper
        {
        public:
                CUndistortionMapper(bool bInterpolate) : CImageMapper(bInterpolate) { }

                void Init(const CCalibration *pCalibration);

        private:
                void ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates);

                const CCalibration *m_pCalibration;
        };


        // private attributes
        CStereoCalibration *m_pStereoCalibration;
        CCalibration *m_pCalibration;
        const CCalibration *m_pCalibrationLeft;
        const CCalibration *m_pCalibrationRight;

        CUndistortionMapper *m_pUndistortionMapperLeft;
        CUndistortionMapper *m_pUndistortionMapperRight;
};



#endif /* _UNDISTORTION_H_ */