Adds rectified undistortion

EyeRecToo/src/CameraCalibration.cpp

@@ -124,9 +124,9 @@ void CameraCalibration::undistortSample(const Mat &frame)
 		return;
 	Mat tmp;
 	if (fishEyeCB->isChecked())
-		cv::fisheye::undistortImage(frame, tmp, newCameraMatrix, distCoeffs);
+		fisheye::undistortImage(frame, tmp, cameraMatrix, distCoeffs);
 	else
-		cv::undistort(frame, tmp, newCameraMatrix, distCoeffs);
+		remap(frame, tmp, map1, map2, CV_INTER_AREA);
 	imshow("Undistorted Image", tmp);
 	this->activateWindow();
 	this->setFocus();
@@ -222,11 +222,15 @@ void CameraCalibration::calibrate()
 
 	Mat rv, tv;
 	if (fishEyeCB->isChecked()) {
-		rms = fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rv, tv, 0);
-		fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize, Matx33d::eye(), newCameraMatrix, 1);
+		rms = fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rv, tv);
+		fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize, Matx33d::eye(), newCameraMatrix, 1, imageSize);
 	} else {
 		rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rv, tv);
 		newCameraMatrix = getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize);
+		initUndistortRectifyMap( cameraMatrix, distCoeffs, Mat(),
+							newCameraMatrix, imageSize, CV_32FC1,
+							map1, map2
+							);
 	}
 	calibrationSuccessful = true;
 }
@@ -258,6 +262,10 @@ void CameraCalibration::load(const QString &fileName)
 		fs["coverage"] >> coverage;
 		fs["rms"] >> rms;
 		calibrationSuccessful = true;
+		initUndistortRectifyMap( cameraMatrix, distCoeffs, Mat(),
+							newCameraMatrix, imageSize, CV_32FC1,
+							map1, map2
+							);
 	}
 	updateCalibrationStatus(calibrationSuccessful);
 }

EyeRecToo/src/CameraCalibration.h

@@ -132,8 +132,11 @@ public:
 	cv::Mat cameraMatrix;
 	cv::Mat newCameraMatrix;
 	cv::Mat distCoeffs;
+	cv::Size imageSize;
+	cv::Rect covered;
 	int sampleCount;
 	double coverage;
+	double rms;
 	bool calibrationSuccessful;
 
 signals:
@@ -172,8 +175,7 @@ private:
 	QFutureWatcher<void> watcher;
 
 	std::vector<std::vector<cv::Point2f> > imagePoints;
-	cv::Size imageSize;
-	cv::Rect covered;
+	cv::Mat map1, map2;
 
 	void processSample(const cv::Mat &frame);
 	void undistortSample(const cv::Mat &frame);
@@ -207,8 +209,6 @@ private:
 		}
 	}
 
-	double rms;
-
 private slots:
 	void startCalibration();
 	void finishCalibration();

EyeRecToo/src/FieldImageProcessor.cpp

@@ -104,7 +104,7 @@ void FieldImageProcessor::process(Timestamp timestamp, const Mat &frame)
             Mat emptyDistCoeffs = (Mat_<double>(1,4) << 0, 0, 0, 0);
             estimatePoseSingleMarkers(corners, cfg.collectionMarkerSizeMeters, emptyCameraMatrix, emptyDistCoeffs, rvecs, tvecs);
         } else
-            estimatePoseSingleMarkers(corners, cfg.collectionMarkerSizeMeters, cameraMatrix, distCoeffs, rvecs, tvecs);
+			estimatePoseSingleMarkers(corners, cfg.collectionMarkerSizeMeters, cameraMatrix, distCoeffs, rvecs, tvecs);
     }
 
     for (unsigned int i=0; i<ids.size(); i++) {
@@ -167,9 +167,9 @@ void FieldImageProcessor::sanitizeCameraParameters(Size size)
 
     FileStorage fs( QString(gCfgDir + "/" + id + "Calibration.xml").toStdString(), FileStorage::READ);
     fs["cameraMatrix"] >> cameraMatrix;
-    fs["distCoeffs"] >> distCoeffs;
-    fs["imageSize"] >> imageSize;
-    bool haveCameraParameters = false;
+	fs["distCoeffs"] >> distCoeffs;
+	fs["imageSize"] >> imageSize;
+	bool haveCameraParameters = false;
     if (!cameraMatrix.empty() && !distCoeffs.empty())
         haveCameraParameters = true;
 
@@ -200,7 +200,7 @@ void FieldImageProcessor::sanitizeCameraParameters(Size size)
                             cameraMatrix,
                             distCoeffs,
                             Mat(),
-                            getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 0, imageSize),
+							getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize),
                             imageSize,
                             CV_32FC1,
                             map1,