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/************************************************************************
*
* Copyright (C) 2018-2024 IRCAD France
* Copyright (C) 2018-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#pragma once
#include <data/camera.hpp>
#include <data/image.hpp>
#include <service/filter.hpp>
#ifdef OPENCV_CUDA_SUPPORT
#include <opencv2/cudawarping.hpp>
#else
#include <opencv2/core/mat.hpp>
#endif // OPENCV_CUDA_SUPPORT
namespace sight::module::geometry::vision
{
/**
* @brief Distort or undistort an image according to camera intrinsics and distortion coefficients.
*
* The service can be used either to transform an image or to output the distortion map. The latter case is used when
* you want to perform the distortion directly in the rendering pipeline.
*
* @section Slots Slots
* - \b change_state() : enabled/disabled the distortion correction.
*
* @section XML XML Configuration
*
* @code{.xml}
<service type="sight::module::geometry::vision::distortion">
<in key="camera" uid="..." />
<in key="input" uid="..." />
<inout key="output" uid="..." />
<mode>distort</mode>
</service>
@endcode
* Or
* @code{.xml}
<service type="sight::module::geometry::vision::distortion">
<in key="camera" uid="..." />
<inout key="map" uid="..." />
<mode>distort</mode>
</service>
@endcode
* @subsection Input Input
* - \b camera [sight::data::camera]: camera containing calibration information.
* - \b input [sight::data::image]: input image to distort.
* @subsection In-Out In-Out
* - \b output [sight::data::image]: output image.
* - \b map [sight::data::image]: distortion map. Useful mainly if you want to perform the distortion directly with the
* renderer.
* @subsection Configuration Configuration:
* - \b mode(optional) : "distort" or "undistort" the output image (default: "distort").
*/
class distortion : public service::filter
{
public:
SIGHT_DECLARE_SERVICE(distortion, sight::service::filter);
/**
* @name Slots API
* @{
*/
static const core::com::slots::key_t CHANGE_STATE_SLOT;
using change_state_slot_t = core::com::slot<void ()>;
///@}
/// Constructor.
distortion() noexcept;
/// Destructor. Does nothing
~distortion() noexcept override = default;
/**
* @brief Connect data::image::MODIFIED_SIG to service::slots::UPDATE
* and data::image::BUFFER_MODIFIED_SIG to service::slots::UPDATE
*/
service::connections_t auto_connections() const override;
protected:
/// Does nothing
void configuring() override;
/// Retrieve the camera.
void starting() override;
/// Do nothing.
void stopping() override;
/// Distort the image.
void updating() override;
private:
/// Distort or undistort the video.
void remap();
/// Slot: enable/disable the distort correction.
void change_state();
/// Slot: compute the distortion map.
void calibrate();
/// True if the undistortion is enabled.
bool m_is_enabled {false};
/// If true, distort the output image, otherwise we undistort it
bool m_distort {true};
/// True when a calibration mismatch is detected, this avoids to pop-up the error at each update
bool m_calibration_mismatch {false};
/// This is used to reset m_calibrationMismatch when the image resolution changes
data::image::size_t m_prev_image_size {0, 0, 0};
#if OPENCV_CUDA_SUPPORT
cv::cuda::GpuMat m_map_x;
cv::cuda::GpuMat m_map_y;
#else
cv::Mat m_map_x;
cv::Mat m_map_y;
#endif // OPENCV_CUDA_SUPPORT
static constexpr std::string_view CAMERA_INPUT = "camera";
static constexpr std::string_view IMAGE_INPUT = "input";
static constexpr std::string_view IMAGE_INOUT = "output";
static constexpr std::string_view MAP_INOUT = "map";
sight::data::ptr<sight::data::camera, sight::data::access::in> m_camera {this, CAMERA_INPUT};
sight::data::ptr<sight::data::image, sight::data::access::in> m_image {this, IMAGE_INPUT};
sight::data::ptr<sight::data::image, sight::data::access::inout> m_output {this, IMAGE_INOUT};
sight::data::ptr<sight::data::image, sight::data::access::inout> m_map {this, MAP_INOUT};
};
} // namespace sight::module::geometry::vision
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