undistort X

Corrects fisheye distortion based on hypothesis: straight lines are straight

How to build

Fastest way is to setup a docker image

docker build --file container/Dockerfile --tag personal-dev:latest .

and run spawn.sh for container prompt access.

You can then build with:

cd SOURCE_DIR
mkdir build
cd build
cmake ..
make

How to run

cd SOURCE_DIR
build/undistortX IMAGE_FILENAME YAML_FILENAME

API

undistort(const cv::Mat &input, const DistortionCoefficients& kd)

Undistorts input image with provided coefficients.

undistort(const cv::Mat &input, const std::vector<std::vector<cv::Point2d>> &pointsDistorted)

Undistorts input image with provided set of points.

getDistortionCoefficients() -> DistortionCoefficients

Get estimated distortion coefficients, after a call to Undistortion::undistort Returns coefficient set of 7 params: [ k1, k2, p1, p2, k3, cx, cy ]

getUndistortedImage() -> cv::Mat

Get undistorted image, after a call to Undistortion::undistort

Refer to sources/main.cpp for example API usage.