DistortionModel.hpp

//DistortionModel.hpp
// Created on: May 12, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>
#pragma once
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <ros/ros.h>
#include <vision_module/Tools/Parameters.hpp>
#include <vision_module/Tools/General.hpp>

using namespace cv;
class DistortionModel
{
private:
    void undistortP_slow(const vector<Point> contour,
            vector<Point> &resCountour);
    void ModifoedOpenCVUndistortPoint(const CvMat* _src, CvMat* _dst,
            const CvMat* _cameraMatrix, const CvMat* _distCoeffs,
            const CvMat* matR, const CvMat* matP);

    void ModifoedOpenCVUndistortPoint(InputArray _src, OutputArray _dst,
            InputArray _cameraMatrix, InputArray _distCoeffs, InputArray _Rmat,
            InputArray _Pmat);

    bool undistortP_normalized_slow(const vector<Point> contour,
            vector<Point2f> &resCountour);
    bool distortP_normalized_slow(const vector<Point3f> contour,
            vector<Point2f> &resCountour);

public:
    vector<Point2f> distortionVector;
    float getDiagonalAngleView();
    Mat cameraMatrix, distCoeffs;
    bool Init();
    void CreateUndistort(const Mat &rawImg, Mat &res);
    void CreateUndistortFull(const Mat &rawImg, Mat &res, Scalar bg);
    bool UndistortP(const vector<Point> &contour, vector<Point> &resCountour);
    bool UndistortP(const vector<Point> &contour, vector<Point2f> &resCountour);
    bool UndistortP(const Point &inPoint, Point2f &resPoint);

    bool DistortP(const vector<Point> contour, vector<Point> &resCountour);

    bool DistortPFull(const vector<Point> contour, vector<Point> &resCountour);
};