tutorial-undistort.cpp

#include <visp/vpImageIo.h>
#include <visp/vpImageTools.h>
#include <visp/vpXmlParserCamera.h>

int main()
{
  vpImage<unsigned char> I;
  vpImageIo::read(I, "chessboard.pgm");

  vpCameraParameters cam;
#ifdef VISP_HAVE_XML2
  vpXmlParserCamera p;
  vpCameraParameters::vpCameraParametersProjType projModel;
  projModel = vpCameraParameters::perspectiveProjWithDistortion;
  if (p.parse(cam, "camera.xml", "Camera", projModel, I.getWidth(), I.getHeight()) != vpXmlParserCamera::SEQUENCE_OK) {
    std::cout << "Cannot found parameters for camera named \"Camera\"" << std::endl;
  }
#else
  cam.initPersProjWithDistortion(582.7, 580.6, 326.6, 215.0, -0.3372, 0.4021);
#endif

  std::cout << cam << std::endl;

  vpImage<unsigned char> Iud;
  vpImageTools::undistort(I, cam, Iud);
  vpImageIo::write(Iud, "chessboard-undistort.pgm");

  return 0;
}