Public Types
typedef mitk::GenericProperty < itk::Matrix< float, 4, 4 > >	MatrixProperty

Public Member Functions
	Undistortion (const mitk::DataNode::Pointer &node)

	Undistortion (const mitk::Image::Pointer &image)

virtual	~Undistortion ()

virtual void	Run (const mitk::DataNode::Pointer &output)

virtual void	Run (const mitk::Image::Pointer &output)

void	PrepareOutput (mitk::Image::Pointer &output)

Static Public Member Functions
static void	LoadIntrinsicCalibration (const std::string &filename, mitk::DataNode::Pointer node)

static void	LoadIntrinsicCalibration (const std::string &filename, const mitk::Image::Pointer &img)

static void	LoadStereoRig (const std::string &filename, mitk::DataNode::Pointer node)

static void	LoadStereoRig (const std::string &filename, mitk::Image::Pointer img)

static bool	NeedsToLoadIntrinsicCalib (const std::string &filename, const mitk::DataNode::Pointer &node)

static bool	NeedsToLoadIntrinsicCalib (const std::string &filename, const mitk::Image::Pointer &image)

static bool	NeedsToLoadStereoRigExtrinsics (const std::string &filename, const mitk::DataNode::Pointer &node)

static bool	NeedsToLoadStereoRigExtrinsics (const std::string &filename, const mitk::Image::Pointer &image)

static void	CopyImagePropsIfNecessary (const mitk::DataNode::Pointer source, mitk::Image::Pointer target)
	Copies properties from node to image, if they don't already exist on the image. More...

Static Public Attributes
static const char *	s_ImageIsUndistortedPropertyName = "niftk.ImageIsUndistorted"

static const char *	s_CameraCalibrationPropertyName = "niftk.CameraCalibration"

static const char *	s_ImageIsRectifiedPropertyName = "niftk.ImageIsRectified"

static const char *	s_StereoRigTransformationPropertyName = "niftk.StereoRigTransformation"

Protected Member Functions
void	ValidateInput ()

virtual void	Process (const IplImage input, IplImage output, bool recomputeCache)

Static Protected Member Functions
static bool	NeedsToLoadImageProperty (const std::string &fileName, const std::string &propertyName, const mitk::Image::Pointer &image)

Protected Attributes
mitk::DataNode::Pointer	m_Node

mitk::Image::Pointer	m_Image

mitk::CameraIntrinsics::Pointer	m_Intrinsics

IplImage *	m_MapX

IplImage *	m_MapY

bool	m_RecomputeCache

Detailed Description

Idea is to create one of these Undistortion objects for a given DataNode or Image, which then does all the magic for computing the undistortion and caches some data. Output, however, is not tied into an instance of the class. Instead it's passed into Run().

How to use. You can pass in any combination of input DataNode or Image and output DataNode or Image. 1) For exmaple: mitk::DataNode::Pointer input = ...; mitk::DataNode::Pointer output = mitk::DataNode::New(); niftk::Undistortion* undist = new niftk::Undistortion(input); undist->Run(output);

2) Another one: mitk::Image::Pointer input = ...; mitk::Image::Pointer output; niftk::Undistortion* undist = new niftk::Undistortion(input); undist->PrepareOutput(output); undist->Run(output);

Either way, the node or image need to have calibration properties. The output object will have these calibrations copied to it as well, including s_ImageIsUndistortedPropertyName. In case both node and its attached image have calibration props then image wins. Also, for consistency sake, both calibration props need to match in this case.

A note about smart pointers: various functions take as parameter something like const mitk::DataNode::Pointer&. This means that the smart-pointer itself is const but the pointed-to object is not! Const is not transitive for smart-pointers! Using const smart-pointers avoids unnecessary ref-count operations (which make stepping through the code rather annoying). If you wanted a const pointed-to object then the parameter would be mitk::DataNode::ConstPointer.

When I wrote this originally, I decided for a non-mitk-smartypants class here, i.e. bare-bones c++ class. Now I can't remember why. Feel free to change it to mitk.

Warning: Only 2D images are tested and supported! Anything else might or might not work, crash, trigger the apocolypse. For 3D what probably happens is that only the very first slice is processed.

Member Typedef Documentation

typedef mitk::GenericProperty<itk::Matrix<float, 4, 4> > niftk::Undistortion::MatrixProperty

Constructor & Destructor Documentation

niftk::Undistortion::Undistortion ( const mitk::DataNode::Pointer & node )

node should have Image data attached, at least when Run() is called.

Exceptions

std::runtime_error if node.IsNull()

niftk::Undistortion::Undistortion ( const mitk::Image::Pointer & image )

Exceptions

std::runtime_error if image.IsNull()

niftk::Undistortion::~Undistortion ( )

virtual

Member Function Documentation

void niftk::Undistortion::CopyImagePropsIfNecessary	(	const mitk::DataNode::Pointer	source,
		mitk::Image::Pointer	target
	)

static

Copies properties from node to image, if they don't already exist on the image.

void niftk::Undistortion::LoadIntrinsicCalibration	(	const std::string &	filename,
		mitk::DataNode::Pointer	node
	)

static

void niftk::Undistortion::LoadIntrinsicCalibration	(	const std::string &	filename,
		const mitk::Image::Pointer &	img
	)

static

void niftk::Undistortion::LoadStereoRig	(	const std::string &	filename,
		mitk::DataNode::Pointer	node
	)

static

void niftk::Undistortion::LoadStereoRig	(	const std::string &	filename,
		mitk::Image::Pointer	img
	)

static

bool niftk::Undistortion::NeedsToLoadImageProperty	(	const std::string &	fileName,
		const std::string &	propertyName,
		const mitk::Image::Pointer &	image
	)

staticprotected

bool niftk::Undistortion::NeedsToLoadIntrinsicCalib	(	const std::string &	filename,
		const mitk::DataNode::Pointer &	node
	)

static

bool niftk::Undistortion::NeedsToLoadIntrinsicCalib	(	const std::string &	filename,
		const mitk::Image::Pointer &	image
	)

static

bool niftk::Undistortion::NeedsToLoadStereoRigExtrinsics	(	const std::string &	filename,
		const mitk::DataNode::Pointer &	node
	)

static

bool niftk::Undistortion::NeedsToLoadStereoRigExtrinsics	(	const std::string &	filename,
		const mitk::Image::Pointer &	image
	)

static

void niftk::Undistortion::PrepareOutput ( mitk::Image::Pointer & output )

You should call this if you use Run(const mitk::Image::Pointer&). If output is null then a new image is allocated. If the dimensions of an existing image are wrong then a new one is allocated too.

Exceptions

std::runtime_error rethrown from ValidateInput()

void niftk::Undistortion::Process	(	const IplImage *	input,
		IplImage *	output,
		bool	recomputeCache
	)

protectedvirtual

FIXME: presumably this is virtual so that we could derive a gpu version. but then the ipl parameters are no use!

Parameters

recomputeCache true image dimensions or type have changed, m_RecomputeCache is passed in (and set to false afterwards, by Run()).

Exceptions

exceptions if anything is wrong.

void niftk::Undistortion::Run ( const mitk::DataNode::Pointer & output )

virtual

Warning: You need to call output->Modified() yourself if you want listeners to be notified!

Exceptions

stuff	from ValidateInput().
std::runtime_error	if output is null.
std::runtime_error	if the attached image is zero-size.

Postcondition: If successful, output node will have an image attached of the correct size.

void niftk::Undistortion::Run ( const mitk::Image::Pointer & output )

virtual

output has to have the same size as input (which you passed in to the constructor). Call PrepareOutput() to make sure.

void niftk::Undistortion::ValidateInput ( )

protected

Check that we have an image to work on, it has the correct depth/channels, etc.

Exceptions

std::runtime_error	if image type is wrong or required properties are missing.
std::runtime_error	if image is zero-size.

Member Data Documentation

mitk::Image::Pointer niftk::Undistortion::m_Image

protected

mitk::CameraIntrinsics::Pointer niftk::Undistortion::m_Intrinsics

protected

IplImage* niftk::Undistortion::m_MapX

protected

IplImage* niftk::Undistortion::m_MapY

protected

mitk::DataNode::Pointer niftk::Undistortion::m_Node

protected

bool niftk::Undistortion::m_RecomputeCache

protected

const char * niftk::Undistortion::s_CameraCalibrationPropertyName = "niftk.CameraCalibration"

static

const char * niftk::Undistortion::s_ImageIsRectifiedPropertyName = "niftk.ImageIsRectified"

static

const char * niftk::Undistortion::s_ImageIsUndistortedPropertyName = "niftk.ImageIsUndistorted"

static

const char * niftk::Undistortion::s_StereoRigTransformationPropertyName = "niftk.StereoRigTransformation"

static

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation