Class CUndistortMap

Defined in File CUndistortMap.h

Class Documentation

class CUndistortMap

Use this class to undistort monocular images if the same distortion map is used over and over again. Using this class is much more efficient that calling mrpt::img::CImage::rectifyImage or OpenCV’s cvUndistort2(), since the remapping data is computed only once for the camera parameters (typical times: 640x480 image -> 70% build map / 30% actual undistort).

Works with grayscale or color images.

Example of usage:

CUndistortMap   unmap;
mrpt::img::TCamera  cam_params;

unmap.setFromCamParams( cam_params );

mrpt::img::CImage  img, img_out;

while (true) {
  unmap.undistort(img, img_out);  // or:
  unmap.undistort(img);  // output in place
}