niftkUndistortion.h

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/*=============================================================================

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.

  See LICENSE.txt in the top level directory for details.

=============================================================================*/

#ifndef Undistortion_h
#define Undistortion_h

#include "niftkOpenCVExports.h"
#include <mitkDataStorage.h>
#include <mitkCameraIntrinsics.h>
#include <opencv2/core/types_c.h>
#include <mitkImage.h>


namespace niftk
{

class NIFTKOPENCV_EXPORT Undistortion
{
public:
  static const char* s_ImageIsUndistortedPropertyName;       // mitk::BoolProperty

  // FIXME: this one should go to our calibration class/module, not here
  static const char* s_CameraCalibrationPropertyName; // mitk::CameraIntrinsicsProperty
  // FIXME: i dont think this is the best place to keep these. i'm up for suggestions!
  static const char* s_ImageIsRectifiedPropertyName;         // mitk::BoolProperty
  static const char* s_StereoRigTransformationPropertyName;  // niftk::MatrixProperty

  // used for stereo-rig transformation, i.e. between left and right camera
 typedef mitk::GenericProperty<itk::Matrix<float, 4, 4> > MatrixProperty;

public:
  Undistortion(const mitk::DataNode::Pointer& node);

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

  virtual ~Undistortion();

public:
  // loads calibration from a text file (not the opencv xml format!).
  // if filename is empty then it will dream up some parameters for the given image.
  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);


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

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

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

protected:
  void ValidateInput();

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

protected:

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

  // the node that this class is to operate on
  mitk::DataNode::Pointer     m_Node;
  // the image attached to our node
  mitk::Image::Pointer        m_Image;
  // the intrinsic parameters belonging to the image
  mitk::CameraIntrinsics::Pointer     m_Intrinsics;

  // cached for repeated use in Process()
  IplImage*        m_MapX;
  IplImage*        m_MapY;
  bool             m_RecomputeCache;
};

class NIFTKOPENCV_EXPORT UndistortionWorker
{
public:

  struct WorkItem
  {
    niftk::Undistortion*    m_Proc;
    mitk::Image::Pointer    m_InputImage;
    mitk::Image::Pointer    m_OutputImage;
    std::string             m_OutputNodeName;
    std::string             m_InputNodeName;
  };

  std::vector<WorkItem>     m_Queue;

  void Run();

};




} // namespace


#endif // niftk_Undistortion_h