undistort_image.c File Reference

#include "modules/computer_vision/undistort_image.h"
#include <stdio.h>
#include "modules/computer_vision/lib/vision/image.h"
#include "modules/computer_vision/lib/vision/undistortion.h"

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Macros
#define	UNDISTORT_FPS   0
	Default FPS (zero means run at camera fps) More...
#define	UNDISTORT_MIN_X_NORMALIZED   -2.0f
	Minimal normalized coordinate that will be shown in the undistorted image. More...
#define	UNDISTORT_MAX_X_NORMALIZED   2.0f
	Maximal normalized coordinate that will be shown in the undistorted image. More...
#define	UNDISTORT_CENTER_RATIO   1.00f
	Maximal normalized coordinate that will be shown in the undistorted image. More...

Functions
static struct image_t *	undistort_image_func (struct image_t *img, uint8_t camera_id)
void	undistort_image_init (void)

Variables
float	min_x_normalized
float	max_x_normalized
float	center_ratio
struct camera_intrinsics_t	camera_intrinsics
struct video_listener *	listener = NULL
static float	K [9]

Macro Definition Documentation

UNDISTORT_CENTER_RATIO

#define UNDISTORT_CENTER_RATIO   1.00f

Maximal normalized coordinate that will be shown in the undistorted image.

Definition at line 29 of file undistort_image.c.

UNDISTORT_FPS

#define UNDISTORT_FPS   0

Default FPS (zero means run at camera fps)

Definition at line 14 of file undistort_image.c.

UNDISTORT_MAX_X_NORMALIZED

#define UNDISTORT_MAX_X_NORMALIZED   2.0f

Maximal normalized coordinate that will be shown in the undistorted image.

Definition at line 24 of file undistort_image.c.

UNDISTORT_MIN_X_NORMALIZED

#define UNDISTORT_MIN_X_NORMALIZED   -2.0f

Minimal normalized coordinate that will be shown in the undistorted image.

Definition at line 19 of file undistort_image.c.

Function Documentation

undistort_image_func()

static struct image_t* undistort_image_func ( struct image_t *  img, uint8_t  camera_id  )

static

Definition at line 46 of file undistort_image.c.

References image_t::buf, camera_intrinsics, center_ratio, camera_intrinsics_t::center_x, camera_intrinsics_t::center_y, dest, camera_intrinsics_t::Dhane_k, f, camera_intrinsics_t::focal_x, camera_intrinsics_t::focal_y, image_t::h, h(), image_copy(), image_create(), image_free(), IMAGE_YUV422, K, max_x_normalized, min_x_normalized, normalized_coords_to_distorted_pixels(), image_t::type, and image_t::w.

Referenced by undistort_image_init().

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undistort_image_init()

void undistort_image_init

(

void

)

Definition at line 109 of file undistort_image.c.

References camera_intrinsics, center_ratio, camera_intrinsics_t::center_x, camera_intrinsics_t::center_y, cv_add_to_device(), camera_intrinsics_t::focal_x, camera_intrinsics_t::focal_y, K, listener, max_x_normalized, min_x_normalized, UNDISTORT_CENTER_RATIO, UNDISTORT_FPS, undistort_image_func(), UNDISTORT_MAX_X_NORMALIZED, and UNDISTORT_MIN_X_NORMALIZED.

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Variable Documentation

camera_intrinsics

struct camera_intrinsics_t camera_intrinsics

Definition at line 36 of file undistort_image.c.

Referenced by undistort_image_func(), and undistort_image_init().

center_ratio

float center_ratio

Definition at line 35 of file undistort_image.c.

Referenced by undistort_image_func(), and undistort_image_init().

K

float K[9]

static

Initial value:

= {0.0f, 0.0f, 0.0f,
                     0.0f, 0.0f, 0.0f,
                     0.0f, 0.0f, 1.0f}

Definition at line 41 of file undistort_image.c.

Referenced by chirp_update(), distorted_pixels_to_normalized_coords(), ekf_range_update_dist(), get_world_position_from_image_points(), gv_adapt_run(), init_second_order_low_pass(), init_second_order_low_pass_int(), ins_mekf_wind_propagate_ahrs(), ins_mekf_wind_update_airspeed(), ins_mekf_wind_update_baro(), ins_mekf_wind_update_incidence(), ins_mekf_wind_update_mag(), ins_mekf_wind_update_pos_speed(), normalized_coords_to_distorted_pixels(), normalized_to_pixels(), pixels_to_normalized(), predict_flow_vectors(), UKF_Wind_Estimator_step(), undistort_image_func(), undistort_image_init(), update_alt_conf(), update_biased_z_conf(), update_obs_height(), update_state(), update_state_heading(), and update_vz_conf().

listener

struct video_listener* listener = NULL

Definition at line 38 of file undistort_image.c.

Referenced by undistort_image_init().

max_x_normalized

float max_x_normalized

Definition at line 34 of file undistort_image.c.

Referenced by undistort_image_func(), and undistort_image_init().

min_x_normalized

float min_x_normalized

Definition at line 33 of file undistort_image.c.

Referenced by undistort_image_func(), and undistort_image_init().