/*******************************************************************************
* Copyright 2015-2018 Intel Corporation.
*
* This software and the related documents are Intel copyrighted materials, and
* your use of them is governed by the express license under which they were
* provided to you (License). Unless the License provides otherwise, you may not
* use, modify, copy, publish, distribute, disclose or transmit this software or
* the related documents without Intel's prior written permission.
*
* This software and the related documents are provided as is, with no express
* or implied warranties, other than those that are expressly stated in the
* License.
*******************************************************************************/
// A simple example of initialization of x and y maps for undistortion
// using Intel(R) Integrated Performance Primitives (Intel(R) IPP) functions:
// ippiUndistortGetSize
// ippiCreateMapCameraUndistort_32f_C1R
// ippiRemap_32f_C1R
#include <stdio.h>
#include "ipp.h"
#define WIDTH 640 /* Source image width */
#define HEIGHT 480 /* Destination image width */
/* Next two defines are created to simplify code reading and understanding */
#define EXIT_MAIN exitLine: /* Label for Exit */
#define check_sts(st) if((st) != ippStsNoErr) goto exitLine; /* Go to Exit if Intel(R) IPP function returned status different from ippStsNoErr */
/* Results of ippMalloc() are not validated because Intel(R) IPP functions perform bad arguments check and will return an appropriate status */
int main(void)
{
IppStatus status = ippStsNoErr;
Ipp32f* pSrc = NULL, *pDst = NULL; /* Pointers to source/destination images */
int srcStep = 0, dstStep = 0; /* Steps, in bytes, through the source/destination images */
IppiSize roiSize = { WIDTH, HEIGHT }; /* Size of source/destination ROI in pixels */
Ipp32f* pxMap = NULL, *pyMap = NULL; /* Pointers to x and y maps */
Ipp8u* pBuffer = NULL; /* Pointer to work buffer */
int buflen = 0;
int xStep = 0, yStep = 0; /* Steps, in bytes, through the x and y maps */
IppiRect rect = { 0, 0, WIDTH, HEIGHT }; /* Region of interest in the source image */
Ipp32f fx = WIDTH / 3.f, fy = HEIGHT / 2.f; /* Focal lengths */
Ipp32f cx = WIDTH / 2.f, cy = HEIGHT / 2.f; /* Coordinates of principal point */
Ipp32f k1 = 0.04f, k2 = 0.004f; /* Coeffs of radial distortion */
Ipp32f p1 = 0.02f, p2 = 0.02f; /* Coeffs of tangential distortion */
pSrc = ippiMalloc_32f_C1(roiSize.width, roiSize.height, &srcStep);
pDst = ippiMalloc_32f_C1(roiSize.width, roiSize.height, &dstStep);
pxMap = ippiMalloc_32f_C1(roiSize.width, roiSize.height, &xStep);
pyMap = ippiMalloc_32f_C1(roiSize.width, roiSize.height, &yStep);
check_sts( status = ippiSet_32f_C1R(0.1234567f, pSrc, srcStep, roiSize) )
check_sts( status = ippiUndistortGetSize(roiSize, &buflen) )
pBuffer = ippsMalloc_8u(buflen);
/* Initialize x and y maps for undistortion by the ippiRemap function */
check_sts( status = ippiCreateMapCameraUndistort_32f_C1R(pxMap, xStep, pyMap, yStep, roiSize,
fx, fy, cx, cy, k1, k2, p1, p2, pBuffer) )
/* Transform the source image by remapping its pixels */
check_sts( status = ippiRemap_32f_C1R(pSrc, roiSize, srcStep, rect, pxMap, xStep, pyMap, yStep,
pDst, dstStep, roiSize, IPPI_INTER_LINEAR) )
EXIT_MAIN
ippiFree(pyMap);
ippiFree(pxMap);
ippsFree(pBuffer);
ippiFree(pSrc);
ippiFree(pDst);
printf("Exit status %d (%s)\n", (int)status, ippGetStatusString(status));
return (int)status;
}