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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 x0 = (size.width-1)*0.5f, y0 = (size.height-1)*0.5f;
float fx = intrinsic_matrix[0], fy = intrinsic_matrix[4];
float ifx = 1.f/fx, ify = 1.f/fy;
float k1 = dist_coeffs[0], k2 = dist_coeffs[1], k3 = dist_coeffs[4];
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)*ify, y2 = y*y;
for( u = 0; u < size.width; u++ )
{
float x = (u - u0)*ifx, x2 = x*x, r2 = x2 + y2, _2xy = 2*x*y;
float kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2;
float _x = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + x0;
float _y = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + y0;
int ix = cvFloor(_x), iy = cvFloor(_y);
if( (unsigned)iy < (unsigned)(size.height - 1) &&
(unsigned)ix < (unsigned)(size.width - 1) )
{
const uchar* ptr = src + iy*srcstep + ix*cn;
_x -= ix; _y -= iy;
for( i = 0; i < cn; i++ )
{
float t0 = CV_8TO32F(ptr[i]), t1 = CV_8TO32F(ptr[i+srcstep]);
t0 += _x*(CV_8TO32F(ptr[i+cn]) - t0);
t1 += _x*(CV_8TO32F(ptr[i + srcstep + cn]) - t1);
dst[u*cn + i] = (uchar)cvRound(t0 + _y*(t1 - t0));
}
}
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;
CV_FUNCNAME( "cvUndistort2" );
__BEGIN__;
float a[9], k[5]={0,0,0,0,0};
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( src->data.ptr == dst->data.ptr )
CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
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 &&
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 5) ||
(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, 4x1, 1x5 or 5x1 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;
icvUnDistort_8u_CnR( src->data.ptr, src_step,
dst->data.ptr, dst_step, size, a, k, cn );
__END__;
}
CV_IMPL void
cvInitUndistortMap( const CvMat* A, const CvMat* dist_coeffs,
CvArr* mapxarr, CvArr* mapyarr )
{
CV_FUNCNAME( "cvInitUndistortMap" );
__BEGIN__;
float a[9], k[5]={0,0,0,0,0};
int coi1 = 0, coi2 = 0;
CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
CvMat mapystub, *_mapy = (CvMat*)mapyarr;
CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
int u, v;
float u0, v0, fx, fy, ifx, ify, x0, y0, k1, k2, k3, 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, "" );
size = cvGetMatSize(_mapx);
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 &&
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 5) ||
(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, 4x1, 1x5 or 5x1 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];
ifx = 1.f/fx; ify = 1.f/fy;
k1 = k[0]; k2 = k[1]; k3 = k[4];
p1 = k[2]; p2 = k[3];
x0 = (size.width-1)*0.5f;
y0 = (size.height-1)*0.5f;
for( v = 0; v < size.height; v++ )
{
float* mapx = (float*)(_mapx->data.ptr + _mapx->step*v);
float* mapy = (float*)(_mapy->data.ptr + _mapy->step*v);
float y = (v - v0)*ify, y2 = y*y;
for( u = 0; u < size.width; u++ )
{
float x = (u - u0)*ifx, x2 = x*x, r2 = x2 + y2, _2xy = 2*x*y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2;
double _x = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + x0;
double _y = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + y0;
mapx[u] = (float)_x;
mapy[u] = (float)_y;
}
}
__END__;
}
void
cvInitUndistortRectifyMap( const CvMat* A, const CvMat* distCoeffs,
const CvMat *R, const CvMat* Ar, CvArr* mapxarr, CvArr* mapyarr )
{
CV_FUNCNAME( "cvInitUndistortMap" );
__BEGIN__;
double a[9], ar[9], r[9], ir[9], k[5]={0,0,0,0,0};
int coi1 = 0, coi2 = 0;
CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
CvMat mapystub, *_mapy = (CvMat*)mapyarr;
CvMat _a = cvMat( 3, 3, CV_64F, a );
CvMat _k = cvMat( 4, 1, CV_64F, k );
CvMat _ar = cvMat( 3, 3, CV_64F, ar );
CvMat _r = cvMat( 3, 3, CV_64F, r );
CvMat _ir = cvMat( 3, 3, CV_64F, ir );
int i, j;
double fx, fy, u0, v0, k1, k2, k3, 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( A )
{
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" );
cvConvert( A, &_a );
}
else
cvSetIdentity( &_a );
if( Ar )
{
CvMat Ar33;
if( !CV_IS_MAT(Ar) || Ar->rows != 3 || (Ar->cols != 3 && Ar->cols != 4) ||
(CV_MAT_TYPE(Ar->type) != CV_32FC1 && CV_MAT_TYPE(Ar->type) != CV_64FC1) )
CV_ERROR( CV_StsBadArg, "The new intrinsic matrix must be a valid 3x3 floating-point matrix" );
cvGetCols( Ar, &Ar33, 0, 3 );
cvConvert( &Ar33, &_ar );
}
else
cvSetIdentity( &_ar );
if( !CV_IS_MAT(R) || R->rows != 3 || R->cols != 3 ||
(CV_MAT_TYPE(R->type) != CV_32FC1 && CV_MAT_TYPE(R->type) != CV_64FC1) )
CV_ERROR( CV_StsBadArg, "Rotaion/homography matrix must be a valid 3x3 floating-point matrix" );
if( distCoeffs )
{
CV_ASSERT( CV_IS_MAT(distCoeffs) &&
(distCoeffs->rows == 1 || distCoeffs->cols == 1) &&
(distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) == 4 ||
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) == 5) &&
(CV_MAT_DEPTH(distCoeffs->type) == CV_64F ||
CV_MAT_DEPTH(distCoeffs->type) == CV_32F) );
_k = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F, CV_MAT_CN(distCoeffs->type)), k );
cvConvert( distCoeffs, &_k );
}
else
cvZero( &_k );
cvConvert( R, &_r ); // rectification matrix
cvMatMul( &_ar, &_r, &_r ); // Ar*R
cvInvert( &_r, &_ir ); // inverse: R^-1*Ar^-1
u0 = a[2]; v0 = a[5];
fx = a[0]; fy = a[4];
k1 = k[0]; k2 = k[1]; k3 = k[4];
p1 = k[2]; p2 = k[3];
size = cvGetMatSize(_mapx);
for( i = 0; i < size.height; i++ )
{
float* mapx = (float*)(_mapx->data.ptr + _mapx->step*i);
float* mapy = (float*)(_mapy->data.ptr + _mapy->step*i);
double _x = i*ir[1] + ir[2], _y = i*ir[4] + ir[5], _w = i*ir[7] + ir[8];
for( j = 0; j < size.width; j++, _x += ir[0], _y += ir[3], _w += ir[6] )
{
double w = 1./_w, x = _x*w, y = _y*w;
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2;
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + v0;
mapx[j] = (float)u;
mapy[j] = (float)v;
}
}
__END__;
}
void
cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
const CvMat* _distCoeffs,
const CvMat* _R, const CvMat* _P )
{
CV_FUNCNAME( "cvUndistortPoints" );
__BEGIN__;
double A[3][3], RR[3][3], k[5]={0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
CvMat _A=cvMat(3, 3, CV_64F, A), _Dk;
CvMat _RR=cvMat(3, 3, CV_64F, RR);
const CvPoint2D32f* srcf;
const CvPoint2D64f* srcd;
CvPoint2D32f* dstf;
CvPoint2D64f* dstd;
int stype, dtype;
int sstep, dstep;
int i, j, n;
CV_ASSERT( CV_IS_MAT(_src) && CV_IS_MAT(_dst) &&
(_src->rows == 1 || _src->cols == 1) &&
(_dst->rows == 1 || _dst->cols == 1) &&
CV_ARE_SIZES_EQ(_src, _dst) &&
(CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) &&
(CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2));
CV_ASSERT( CV_IS_MAT(_cameraMatrix) && CV_IS_MAT(_distCoeffs) &&
_cameraMatrix->rows == 3 && _cameraMatrix->cols == 3 &&
(_distCoeffs->rows == 1 || _distCoeffs->cols == 1) &&
(_distCoeffs->rows*_distCoeffs->cols == 4 ||
_distCoeffs->rows*_distCoeffs->cols == 5) );
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
cvConvert( _cameraMatrix, &_A );
cvConvert( _distCoeffs, &_Dk );
if( _R )
{
CV_ASSERT( CV_IS_MAT(_R) && _R->rows == 3 && _R->cols == 3 );
cvConvert( _R, &_RR );
}
else
cvSetIdentity(&_RR);
if( _P )
{
double PP[3][3];
CvMat _P3x3, _PP=cvMat(3, 3, CV_64F, PP);
CV_ASSERT( CV_IS_MAT(_P) && _P->rows == 3 && (_P->cols == 3 || _P->cols == 4));
cvConvert( cvGetCols(_P, &_P3x3, 0, 3), &_PP );
cvMatMul( &_PP, &_RR, &_RR );
}
srcf = (const CvPoint2D32f*)_src->data.ptr;
srcd = (const CvPoint2D64f*)_src->data.ptr;
dstf = (CvPoint2D32f*)_dst->data.ptr;
dstd = (CvPoint2D64f*)_dst->data.ptr;
stype = CV_MAT_TYPE(_src->type);
dtype = CV_MAT_TYPE(_dst->type);
sstep = _src->rows == 1 ? 1 : _src->step/CV_ELEM_SIZE(stype);
dstep = _dst->rows == 1 ? 1 : _dst->step/CV_ELEM_SIZE(dtype);
n = _src->rows + _src->cols - 1;
fx = A[0][0];
fy = A[1][1];
ifx = 1./fx;
ify = 1./fy;
cx = A[0][2];
cy = A[1][2];
for( i = 0; i < n; i++ )
{
double x, y, x0, y0;
if( stype == CV_32FC2 )
{
x = srcf[i*sstep].x;
y = srcf[i*sstep].y;
}
else
{
x = srcd[i*sstep].x;
y = srcd[i*sstep].y;
}
x0 = x = (x - cx)*ifx;
y0 = y = (y - cy)*ify;
// compensate distortion iteratively
for( j = 0; j < 5; j++ )
{
double r2 = x*x + y*y;
double icdist = 1./(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
double xx = RR[0][0]*x + RR[0][1]*y + RR[0][2];
double yy = RR[1][0]*x + RR[1][1]*y + RR[1][2];
double ww = 1./(RR[2][0]*x + RR[2][1]*y + RR[2][2]);
x = xx*ww;
y = yy*ww;
if( dtype == CV_32FC2 )
{
dstf[i*dstep].x = (float)x;
dstf[i*dstep].y = (float)y;
}
else
{
dstd[i*dstep].x = x;
dstd[i*dstep].y = y;
}
}
__END__;
}
/* End of file */