distortion_correction.h

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#ifndef _DISTORTION_CORRECTION_H_
#define _DISTORTION_CORRECTION_H_


//####################################################################
#include <ros/ros.h>

#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>

#include <mit_darpa_logs_player/camtrans.h>


#include "camera_parameters.h"

class class_distortion_correction: virtual public class_camera_parameters
{
        // ------------------------------------------------------------------------------
        //PUBLIC SECTION OF THE CLASS
        // ------------------------------------------------------------------------------
        public:
                class_distortion_correction(void){};
                ~class_distortion_correction(void){};

                int correct_image_distortion(const cv::Mat* distorted, cv::Mat* corrected)
                {
                        cv::Mat K;
                        K.create(3,3,CV_64F);   

                        K.at<double>(0,0) = intrinsic.at<double>(0,0); 
                        K.at<double>(0,1) = intrinsic.at<double>(0,1); 
                        K.at<double>(0,2) = intrinsic.at<double>(0,2); 

                        K.at<double>(1,0) = intrinsic.at<double>(1,0); 
                        K.at<double>(1,1) = intrinsic.at<double>(1,1); 
                        K.at<double>(1,2) = intrinsic.at<double>(1,2); 

                        K.at<double>(2,0) = intrinsic.at<double>(2,0); 
                        K.at<double>(2,1) = intrinsic.at<double>(2,1); 
                        K.at<double>(2,2) = intrinsic.at<double>(2,2); 

                        cv::undistort(*distorted, *corrected, K, distortion);
                        return 1;
                }



                int correct_spherical_image_distortion(const cv::Mat* distorted, cv::Mat* corrected)
                {

                        double position[3];                                                          
                        double orientation_quat[4];

                        CamTrans* cam = camtrans_new_spherical(spherical_distortion_params.calibration_width,
                                                                                                   spherical_distortion_params.calibration_height,
                                                                                                        intrinsic.at<double>(0,0)/*fx*/,
                                                                                                        intrinsic.at<double>(1,1)/*fy*/,
                                                                                                        intrinsic.at<double>(0,2)/*intrinsic.cx*/,
                                                                                                        intrinsic.at<double>(1,2)/*intrinsic.cy*/,
                                                                                                        0 /*skew*/,
                                                                                                        position, orientation_quat, 
                                                                                                        spherical_distortion_params.cx,
                                                                                                        spherical_distortion_params.cy,
                                                                                                        spherical_distortion_params.param);

                        camtrans_scale_image(cam, spherical_distortion_params.scale);
                        cv::Mat mapx; 
                        mapx.create(240,376,CV_32FC1); 

                        cv::Mat mapy; 
                        mapy.create(240,376,CV_32FC1); 

                        for (double x=0; x<240; x++)
                                for (double y=0; y<376; y++)
                                {
                                        double ox,oy;
                                        //camtrans_distort_pixel(cam, x,y,&ox, &oy);          
                                        camtrans_distort_pixel(cam, y,x,&oy, &ox);          

                                        mapx.at<float>(x,y) = oy;
                                        mapy.at<float>(x,y) = ox;
                                }

                        cv::remap(*distorted, *corrected, mapx, mapy,CV_INTER_LINEAR);
                        return 1;
                }
        private:

};

#endif