www.pudn.com > OpenCV-Intel.zip > cvundistort.cpp
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#include "_cv.h"
static CvStatus
icvUnDistort_8u_CnR( const uchar* src, int srcstep,
uchar* dst, int dststep, CvSize size,
const float* intrinsic_matrix,
const float* dist_coeffs, int cn )
{
int u, v, i;
float u0 = intrinsic_matrix[2], v0 = intrinsic_matrix[5];
float fx = intrinsic_matrix[0], fy = intrinsic_matrix[4];
float _fx = 1.f/fx, _fy = 1.f/fy;
float k1 = dist_coeffs[0], k2 = dist_coeffs[1];
float p1 = dist_coeffs[2], p2 = dist_coeffs[3];
srcstep /= sizeof(src[0]);
dststep /= sizeof(dst[0]);
for( v = 0; v < size.height; v++, dst += dststep )
{
float y = (v - v0)*_fy;
float y2 = y*y;
float ky = 1 + (k1 + k2*y2)*y2;
float k2y = 2*k2*y2;
float _2p1y = 2*p1*y;
float _3p1y2 = 3*p1*y2;
float p2y2 = p2*y2;
for( u = 0; u < size.width; u++ )
{
float x = (u - u0)*_fx;
float x2 = x*x;
float kx = (k1 + k2*x2)*x2;
float d = kx + ky + k2y*x2;
float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
int iu = cvRound(_u*(1 << ICV_WARP_SHIFT));
int iv = cvRound(_v*(1 << ICV_WARP_SHIFT));
int ifx = iu & ICV_WARP_MASK;
int ify = iv & ICV_WARP_MASK;
iu >>= ICV_WARP_SHIFT;
iv >>= ICV_WARP_SHIFT;
float a0 = icvLinearCoeffs[ifx*2];
float a1 = icvLinearCoeffs[ifx*2 + 1];
float b0 = icvLinearCoeffs[ify*2];
float b1 = icvLinearCoeffs[ify*2 + 1];
if( (unsigned)iv < (unsigned)(size.height - 1) &&
(unsigned)iu < (unsigned)(size.width - 1) )
{
const uchar* ptr = src + iv*srcstep + iu*cn;
for( i = 0; i < cn; i++ )
{
float t0 = a1*CV_8TO32F(ptr[i]) + a0*CV_8TO32F(ptr[i+cn]);
float t1 = a1*CV_8TO32F(ptr[i+srcstep]) + a0*CV_8TO32F(ptr[i + srcstep + cn]);
dst[u*cn + i] = (uchar)cvRound(b1*t0 + b0*t1);
}
}
else
{
for( i = 0; i < cn; i++ )
dst[u*cn + i] = 0;
}
}
}
return CV_OK;
}
icvUndistortGetSize_t icvUndistortGetSize_p = 0;
icvCreateMapCameraUndistort_32f_C1R_t icvCreateMapCameraUndistort_32f_C1R_p = 0;
icvUndistortRadial_8u_C1R_t icvUndistortRadial_8u_C1R_p = 0;
icvUndistortRadial_8u_C3R_t icvUndistortRadial_8u_C3R_p = 0;
typedef CvStatus (CV_STDCALL * CvUndistortRadialIPPFunc)
( const void* pSrc, int srcStep, void* pDst, int dstStep, CvSize roiSize,
float fx, float fy, float cx, float cy, float k1, float k2, uchar *pBuffer );
CV_IMPL void
cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
{
static int inittab = 0;
uchar* buffer = 0;
CV_FUNCNAME( "cvUndistort2" );
__BEGIN__;
float a[9], k[4];
int coi1 = 0, coi2 = 0;
CvMat srcstub, *src = (CvMat*)_src;
CvMat dststub, *dst = (CvMat*)_dst;
CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
int cn, src_step, dst_step;
CvSize size;
if( !inittab )
{
icvInitLinearCoeffTab();
icvInitCubicCoeffTab();
inittab = 1;
}
CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "The function does not support COI" );
if( CV_MAT_DEPTH(src->type) != CV_8U )
CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
if( !CV_ARE_TYPES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
cvConvert( A, &_a );
_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
cvConvert( dist_coeffs, &_k );
cn = CV_MAT_CN(src->type);
size = cvGetMatSize(src);
src_step = src->step ? src->step : CV_STUB_STEP;
dst_step = dst->step ? dst->step : CV_STUB_STEP;
if( fabs((double)k[2]) < 1e-5 && fabs((double)k[3]) < 1e-5 && icvUndistortGetSize_p )
{
int buf_size = 0;
CvUndistortRadialIPPFunc func =
cn == 1 ? (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C1R_p :
(CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C3R_p;
if( func && icvUndistortGetSize_p( size, &buf_size ) >= 0 && buf_size > 0 )
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
if( func( src->data.ptr, src_step, dst->data.ptr,
dst_step, size, a[0], a[4],
a[2], a[5], k[0], k[1], buffer ) >= 0 )
EXIT;
}
}
icvUnDistort_8u_CnR( src->data.ptr, src_step,
dst->data.ptr, dst_step, size, a, k, cn );
__END__;
cvFree( (void**)&buffer );
}
CV_IMPL void
cvInitUndistortMap( const CvMat* A, const CvMat* dist_coeffs,
CvArr* mapxarr, CvArr* mapyarr )
{
uchar* buffer = 0;
CV_FUNCNAME( "cvInitUndistortMap" );
__BEGIN__;
float a[9], k[4];
int coi1 = 0, coi2 = 0;
CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
CvMat mapystub, *_mapy = (CvMat*)mapyarr;
float *mapx, *mapy;
CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
int mapxstep, mapystep;
int u, v;
float u0, v0, fx, fy, _fx, _fy, k1, k2, p1, p2;
CvSize size;
CV_CALL( _mapx = cvGetMat( _mapx, &mapxstub, &coi1 ));
CV_CALL( _mapy = cvGetMat( _mapy, &mapystub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "The function does not support COI" );
if( CV_MAT_TYPE(_mapx->type) != CV_32FC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Both maps must have 32fC1 type" );
if( !CV_ARE_TYPES_EQ( _mapx, _mapy ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_ARE_SIZES_EQ( _mapx, _mapy ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
cvConvert( A, &_a );
_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
cvConvert( dist_coeffs, &_k );
u0 = a[2]; v0 = a[5];
fx = a[0]; fy = a[4];
_fx = 1.f/fx; _fy = 1.f/fy;
k1 = k[0]; k2 = k[1];
p1 = k[2]; p2 = k[3];
mapxstep = _mapx->step ? _mapx->step : CV_STUB_STEP;
mapystep = _mapy->step ? _mapy->step : CV_STUB_STEP;
mapx = _mapx->data.fl;
mapy = _mapy->data.fl;
size = cvGetMatSize(_mapx);
if( icvUndistortGetSize_p && icvCreateMapCameraUndistort_32f_C1R_p )
{
int buf_size = 0;
if( icvUndistortGetSize_p( size, &buf_size ) && buf_size > 0 )
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
if( icvCreateMapCameraUndistort_32f_C1R_p(
mapx, mapxstep, mapy, mapystep, size,
a[0], a[4], a[2], a[5], k[0], k[1], k[2], k[3], buffer ) >= 0 )
EXIT;
}
}
mapxstep /= sizeof(mapx[0]);
mapystep /= sizeof(mapy[0]);
for( v = 0; v < size.height; v++, mapx += mapxstep, mapy += mapystep )
{
float y = (v - v0)*_fy;
float y2 = y*y;
float _2p1y = 2*p1*y;
float _3p1y2 = 3*p1*y2;
float p2y2 = p2*y2;
for( u = 0; u < size.width; u++ )
{
float x = (u - u0)*_fx;
float x2 = x*x;
float r2 = x2 + y2;
float d = 1 + (k1 + k2*r2)*r2;
float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
mapx[u] = _u;
mapy[u] = _v;
}
}
__END__;
}
/* End of file */