Undistortion

examples/other/maptk_undistort_frames.conf

@@ -0,0 +1,9 @@
+
+# Path to the input image list file.
+image_list_file = framelist.txt
+
+# A directory containing the input KRTD files.
+input_krtd_dir = output/krtd
+
+# A directory in which to write the output undistorted frames.
+output_dir = undistorted_frames

gui/CMakeLists.txt

@@ -63,6 +63,7 @@ set(gui_moc_headers
   tools/BundleAdjustTool.h
   tools/CanonicalTransformTool.h
   tools/NeckerReversalTool.h
+  tools/UndistortFramesTool.h
 )
 
 set(gui_sources
@@ -90,6 +91,7 @@ set(gui_sources
   tools/BundleAdjustTool.cxx
   tools/CanonicalTransformTool.cxx
   tools/NeckerReversalTool.cxx
+  tools/UndistortFramesTool.cxx
 )
 
 maptk_use_appdata(

gui/MainWindow.cxx

@@ -36,6 +36,7 @@
 #include "tools/BundleAdjustTool.h"
 #include "tools/CanonicalTransformTool.h"
 #include "tools/NeckerReversalTool.h"
+#include "tools/UndistortFramesTool.h"
 
 #include "AboutDialog.h"
 #include "MatchMatrixWindow.h"
@@ -238,6 +239,8 @@ class MainWindowPrivate
   kwiver::vital::camera_map_sptr cameraMap() const;
   void updateCameras(kwiver::vital::camera_map_sptr const&);
 
+  QMap<kwiver::vital::frame_id_t, QString>* frameMap() const;
+
   void setActiveCamera(int);
   void updateCameraView();
 
@@ -391,6 +394,23 @@ kwiver::vital::camera_map_sptr MainWindowPrivate::cameraMap() const
   return std::make_shared<kwiver::vital::simple_camera_map>(map);
 }
 
+//-----------------------------------------------------------------------------
+QMap<kwiver::vital::frame_id_t, QString> *MainWindowPrivate::frameMap() const
+{
+  auto map = new QMap<kwiver::vital::frame_id_t, QString>();
+
+  foreach (auto i, qtIndexRange(this->cameras.count()))
+  {
+    auto const& cd = this->cameras[i];
+    if (!cd.imagePath.isEmpty())
+    {
+      map->insert(static_cast<kwiver::vital::frame_id_t>(i), cd.imagePath);
+    }
+  }
+
+  return map;
+}
+
 //-----------------------------------------------------------------------------
 void MainWindowPrivate::updateCameras(
   kwiver::vital::camera_map_sptr const& cameras)
@@ -590,6 +610,7 @@ MainWindow::MainWindow(QWidget* parent, Qt::WindowFlags flags)
   d->addTool(new BundleAdjustTool(this), this);
   d->addTool(new CanonicalTransformTool(this), this);
   d->addTool(new NeckerReversalTool(this), this);
+  d->addTool(new UndistortFramesTool(this), this);
 
   d->UI.menuView->addSeparator();
   d->UI.menuView->addAction(d->UI.cameraViewDock->toggleViewAction());
@@ -1092,6 +1113,19 @@ void MainWindow::executeTool(QObject* object)
     tool->setCameras(d->cameraMap());
     tool->setLandmarks(d->landmarks);
 
+    if (tool->inherits("UndistortFramesTool")) {
+
+      QString dir = QFileDialog::getExistingDirectory(this, tr("Open Directory"),
+                                                   "./",
+                                                   QFileDialog::ShowDirsOnly
+                                                   | QFileDialog::DontResolveSymlinks);
+
+      UndistortFramesTool * t = qobject_cast<UndistortFramesTool*>(tool);
+
+      t->setOutputDir(dir);
+      t->setFrames(d->frameMap());
+    }
+
     if (!tool->execute())
     {
       d->setActiveTool(0);

gui/tools/UndistortFramesTool.cxx

@@ -0,0 +1,141 @@
+/*ckwg +29
+ * Copyright 2016 by Kitware, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name Kitware, Inc. nor the names of any contributors may be
+ *    used to endorse or promote products derived from this software without
+ *    specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "UndistortFramesTool.h"
+
+#include "maptk/undistort_frame.h"
+
+#include <QtGui/QMessageBox>
+
+//-----------------------------------------------------------------------------
+class UndistortFramesToolPrivate
+{
+public:
+  QMap<kwiver::vital::frame_id_t, QString> frames;
+  QString dir;
+
+};
+
+QTE_IMPLEMENT_D_FUNC(UndistortFramesTool)
+
+//-----------------------------------------------------------------------------
+UndistortFramesTool::UndistortFramesTool(QObject* parent)
+  : AbstractTool(parent), d_ptr(new UndistortFramesToolPrivate)
+{
+  this->setText("&Undistort Frames");
+  this->setToolTip(
+        "<nobr>Undistort frames.</nobr>");
+}
+
+//-----------------------------------------------------------------------------
+UndistortFramesTool::~UndistortFramesTool()
+{
+}
+
+//-----------------------------------------------------------------------------
+AbstractTool::Outputs UndistortFramesTool::outputs() const
+{
+  return Cameras | Landmarks;
+}
+
+//-----------------------------------------------------------------------------
+void UndistortFramesTool::setFrames(QMap<kwiver::vital::frame_id_t, QString> *
+                                    const& newFrames)
+{
+  if (newFrames)
+  {
+    auto copiedFrames = QMap<kwiver::vital::frame_id_t, QString>();
+
+    QMap<kwiver::vital::frame_id_t, QString>::const_iterator i =
+        newFrames->constBegin();
+
+    while (i != newFrames->constEnd()) {
+        copiedFrames.insert(i.key(), i.value());
+        ++i;
+    }
+
+    this->updateFrames(copiedFrames);
+  }
+  else
+  {
+    this->updateFrames(QMap<kwiver::vital::frame_id_t, QString>());
+  }
+}
+
+void UndistortFramesTool::setOutputDir(const QString &dir)
+{
+  QTE_D();
+
+  d->dir = dir;
+}
+
+//-----------------------------------------------------------------------------
+void UndistortFramesTool::updateFrames(QMap<kwiver::vital::frame_id_t, QString>
+                                       const& newFrames)
+{
+  QTE_D();
+  d->frames = newFrames;
+}
+
+//-----------------------------------------------------------------------------
+QMap<kwiver::vital::frame_id_t, QString> UndistortFramesTool::frames()
+{
+  QTE_D();
+
+  return d->frames;
+}
+
+//-----------------------------------------------------------------------------
+bool UndistortFramesTool::execute(QWidget* window)
+{
+  return AbstractTool::execute(window);
+}
+
+//-----------------------------------------------------------------------------
+void UndistortFramesTool::run()
+{
+  QTE_D();
+
+  auto cp = this->cameras();
+  auto frames = this->frames();
+
+  int nbCams = cp.get()->cameras().size();
+
+  std::vector<std::string> frameList;
+  std::vector<kwiver::vital::camera_sptr> cameras;
+
+  for (int i = 0; i < nbCams; ++i)
+  {
+    frameList.push_back(frames[i].toStdString());
+    cameras.push_back(cp.get()->cameras().at(i));
+  }
+
+  kwiver::maptk::undistortFrames(frameList,cameras,d->dir.toStdString());
+}

gui/tools/UndistortFramesTool.h

@@ -0,0 +1,68 @@
+/*ckwg +29
+ * Copyright 2016 by Kitware, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name Kitware, Inc. nor the names of any contributors may be
+ *    used to endorse or promote products derived from this software without
+ *    specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MAPTK_UNDISTORTFRAMESTOOL_H_
+#define MAPTK_UNDISTORTFRAMESTOOL_H_
+
+#include "AbstractTool.h"
+
+class UndistortFramesToolPrivate;
+
+class UndistortFramesTool : public AbstractTool
+{
+  Q_OBJECT
+
+public:
+  explicit UndistortFramesTool(QObject* parent = 0);
+  virtual ~UndistortFramesTool();
+
+  virtual Outputs outputs() const QTE_OVERRIDE;
+
+  virtual bool execute(QWidget* window = 0) QTE_OVERRIDE;
+
+  void setFrames(QMap<kwiver::vital::frame_id_t, QString> * const &newFrames);
+
+  void setOutputDir(QString const &dir);
+
+  void updateFrames(QMap<kwiver::vital::frame_id_t, QString> const &newFrames);
+
+  QMap<kwiver::vital::frame_id_t, QString> frames();
+
+
+protected:
+  virtual void run() QTE_OVERRIDE;
+
+private:
+  QTE_DECLARE_PRIVATE_RPTR(UndistortFramesTool)
+  QTE_DECLARE_PRIVATE(UndistortFramesTool)
+  QTE_DISABLE_COPY(UndistortFramesTool)
+};
+
+#endif

maptk/CMakeLists.txt

@@ -3,6 +3,9 @@ include(CheckCXXCompilerFlag)
 include_directories("${MAPTK_SOURCE_DIR}")
 include_directories("${MAPTK_BINARY_DIR}")
 
+find_package(VTK 6.2 REQUIRED)
+include(${VTK_USE_FILE})
+
 
 ###
 # Setting up main library
@@ -19,6 +22,7 @@ set(maptk_public_headers
   match_matrix.h
   triangulate.h
   transform.h
+  undistort_frame.h
 
   plugin_interface/algorithm_plugin_interface.h
   plugin_interface/algorithm_plugin_interface_macros.h
@@ -38,6 +42,7 @@ set(maptk_sources
   projected_track_set.cxx
   transform.cxx
   triangulate.cxx
+  undistort_frame.cxx
   )
 
 kwiver_configure_file( version.h
@@ -69,6 +74,9 @@ kwiver_add_library(
 target_link_libraries( maptk
   PUBLIC               vital
                        kwiversys
+                       vtkCommonCore
+                       vtksys
+                       vtkIOImage
   )