Splitting undistort into initUndistortRectifyMap and remap

Improve performance by caching the result of initUndistortRemap and only applying the remapping each frame, instead of doing both each frame as was done with the call to undistort.

include/calibFilter.h

@@ -25,11 +25,8 @@ private:
 public:
     CalibFilter();
 
-//    IplImage* act(IplImage *img, IplImage *res);
     cv::Mat act(cv::Mat &img, cv::Mat &res);
 
-//     bool changed();
-
     Parameter *getFx();
     Parameter *getFy();
     Parameter *getCx();

src/calibFilter.cpp

@@ -69,56 +69,8 @@ CalibFilter::CalibFilter()
 
 Mat CalibFilter::act(Mat &img, Mat &res)
 {
-//#if (CV_MAJOR_VERSION == 2)
-//    static double _camera[9], _dist[8];
-//    static CvMat camera = cvMat(3, 3, CV_64F, _camera);
-//    static CvMat dist = cvMat(1, 8, CV_64F, _dist);
-
-//    _camera[0] = getFx()->getValue(); _camera[1] = 0;                   _camera[2] = getCx()->getValue();
-//    _camera[3] = 0;                   _camera[4] = getFy()->getValue(); _camera[5] = getCy()->getValue();
-//    _camera[6] = 0;                   _camera[7] = 0;                   _camera[8] = 1;
-//    _dist[0] = getR2()->getValue(); _dist[1] = getR4()->getValue(); _dist[4] = getR6()->getValue();
-//    _dist[2] = getTx()->getValue(); _dist[3] = getTy()->getValue();
-//    _dist[5] = getK4()->getValue(); _dist[5] = getK5()->getValue(); _dist[7] = getK6()->getValue();
-
-//    // opencv 2 kann bei undistort2 anscheinend nur noch 8bit bilder verarbeiten?! ==> nicht mehr aktuell fuer OpenCV 3? funktioniert bisher ohne Probleme um eine halb sekunde schneller pro frame!
-//    // http://stackoverflow.com/questions/2333868/cvundistort2-and-cvremap-crash
-
-//    IplImage *r = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    IplImage *g = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    IplImage *b = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    IplImage *r2 = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    IplImage *g2 = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    IplImage *b2 = cvCreateImage(cvGetSize(imgIpl),8,1);
-//    if( imgIpl->nChannels == 3 )
-//    {
-//        cvSplit(imgIpl, r,g,b, NULL);
-
-////      debout << "Distortioncoefficients: " << endl;
-////      debout << "r2: " << _dist[0] << "r4: " << _dist[1] << "r6: " << _dist[4]
-////           << "tx: " << _dist[2] << "ty: " << _dist[3]
-////           << "k4: " << _dist[5] << "k5: " << _dist[6] << "k6: " << _dist[7] << endl;
-
-//        cvUndistort2(r, r2, &camera, &dist);
-//        cvUndistort2(g, g2, &camera, &dist);
-//        cvUndistort2(b, b2, &camera, &dist);
-//        cvMerge(r2, g2, b2, NULL, resIpl);
-//    }else
-//    {
-//        cvUndistort2(imgIpl,resIpl,&camera, &dist);
-//    }
-//    cvReleaseImage(&r);
-//    cvReleaseImage(&g);
-//    cvReleaseImage(&b);
-//    cvReleaseImage(&r2);
-//    cvReleaseImage(&g2);
-//    cvReleaseImage(&b2);
-
-//    return resIpl;
-//#else
-//    Mat img = cvarrToMat(imgIpl),
-//        res = cvarrToMat(resIpl);
-
+    if(this->changed() || map1.empty() || map2.empty())
+    {
     Mat camera = (Mat_<float>(3,3) << getFx()->getValue(), 0,                   getCx()->getValue(),
                                           0,                   getFy()->getValue(), getCy()->getValue(),
                                           0,                   0,                   1                   );
@@ -127,35 +79,16 @@ Mat CalibFilter::act(Mat &img, Mat &res)
                                         getR6()->getValue(),
                                         getK4()->getValue(), getK5()->getValue(), getK6()->getValue());
 
-    /*
-     * Eine Möglichkeit das entzerren schneller zu gestalten, indem
-     * der Aufruf von undistort in getrennte Aufrufe geteilt wird
-     * und das Ergebns von initUndistort... gecached wird
-     * Aber TODO muss zuerst gelöst werden (Cache muss bei einladen eines
-     * neues Projekt gecleart werden)
-     */
-    // TODO Was, wenn ein neues Projekt eingeladen wird?
-//    if(map1.empty() || map2.empty())
-//        initUndistortRectifyMap(camera, dist, Mat_<double>::eye(3,3),
-//                                camera,
-//                                img.size(), CV_16SC2, map1, map2);
-//    remap(img, res, map1, map2, INTER_LINEAR, BORDER_CONSTANT);
-
-    undistort(img, res, camera, dist);
-//    cvReleaseImage(&resIpl);
-//    resIpl = cvCreateImage(cvSize(res.cols,res.rows),8,3);
-//    IplImage tmpIpl = res;
-//    cvCopy(&tmpIpl,resIpl);
 
+        initUndistortRectifyMap(camera, dist, Mat_<double>::eye(3,3),
+                                camera,
+                                img.size(), CV_16SC2, map1, map2);
+    }
+
+    remap(img, res, map1, map2, INTER_LINEAR, BORDER_CONSTANT);
     return res;
-//#endif
 }
 
-// bool CalibFilter::changed()
-// {
-//     return Filter::changed() || mFx.changed() || mFy.changed() || mCx.changed() ||  mCy.changed() ||  mR2.changed() ||  mR4.changed() || mTx.changed() ||  mTy.changed();   
-// }
-
 Parameter* CalibFilter::getFx()
 {
     return &mFx;