added the lense distortion

Demo.cpp

@@ -14,9 +14,9 @@ based  on original demo.cpp
 #include <signal.h>
 
 
-#define PROCESS_CENTER_VERSION_MAJOR 0
-#define PROCESS_CENTER_VERSION_MINOR 9
-#define PROCESS_CENTER_VERSION_MINOR_FIXES 9
+#define PROCESS_CENTER_VERSION_MAJOR 1
+#define PROCESS_CENTER_VERSION_MINOR 0
+#define PROCESS_CENTER_VERSION_MINOR_FIXES 1
 
 //opencv
 #include <opencv2/opencv.hpp>
@@ -65,12 +65,12 @@ int main(int argc, char * argv[])
     //!** parse programm input****************/
     if(cmdOptionExists(argv, argv+argc, "-h"))
     {
-        cout <<" error: please use command as\n./bgs_demo -i pathToInputDir -a amountOfJpgFiles -c exactCenterConfFile.xml -o outPutPath"<<endl;
+        cout <<" error: please use command as\n./bgs_demo -i pathToInputDir -a amountOfJpgFiles -c exactCenterConfFile.xml -o outPutPath -p camparameterFile.xml"<<endl;
         return  EXIT_FAILURE;
     }
-    if(!cmdOptionExists(argv, argv+argc, "-i")||!cmdOptionExists(argv, argv+argc, "-a")||!cmdOptionExists(argv, argv+argc, "-o") )
+    if(!cmdOptionExists(argv, argv+argc, "-i")||!cmdOptionExists(argv, argv+argc, "-a")||!cmdOptionExists(argv, argv+argc, "-o") ||!cmdOptionExists(argv, argv+argc, "-p"))
     {
-        cout <<" error: please use command as\n./bgs_demo -i pathToInputDir -a amountOfJpgFiles -c exactCenterConfFile.xml -o outPutPath"<<endl;
+        cout <<" error: please use command as\n./bgs_demo -i pathToInputDir -a amountOfJpgFiles -c exactCenterConfFile.xml -o outPutPath -p camparameterFile.xml"<<endl;
         return  EXIT_FAILURE;
     }
 
@@ -107,7 +107,16 @@ int main(int argc, char * argv[])
         outputDir = string(testOutputDir);
     }
 
-    cout <<"args: -i "<<inputDir<<" -a "<<amountFiles << " -c" <<  centerFileString<<" -o " << outputDir;
+    char *camerFile = getCmdOption(argv, argv + argc, "-p");
+    std::string cameraParameterFile(".");
+    if (camerFile)
+    {
+        //test dir exists
+        cameraParameterFile = string(camerFile);
+    }
+
+
+    cout <<"args: -i "<<inputDir<<" -a "<<amountFiles << " -c" <<  centerFileString<<" -o " << outputDir <<" -p " << cameraParameterFile ;
     //!**** end parse input***********/
 
     //./program -i pathToInputDir -a amountOfJpgFiles -o outPutPath
@@ -228,6 +237,25 @@ int main(int argc, char * argv[])
     cout  <<"circleRadius: "<< circleRadius<<endl;
     fsCen.release();
 
+
+    //we open the camera config file
+    cv::String  camParam (cameraParameterFile);
+    Mat intrinsicsCameraMatrix, distortionCoeff;
+    {
+        cout  << "read cam parameter of: "<< cameraParameterFile ;
+        FileStorage fs;
+        fs.open(camParam, FileStorage::READ);
+        if (!fs.isOpened())
+        {
+            cerr << "error during open " << cameraParameterFile <<  " will abort\n ";
+            return -1;
+        }
+        fs["camera_matrix"] >> intrinsicsCameraMatrix;
+        std::cout << "camera_matrix = "<< intrinsicsCameraMatrix<<endl;
+        fs["distortion_coefficients"] >> distortionCoeff;
+        std::cout << "distortion_coefficients"<< distortionCoeff<<endl;
+    }
+
 //    //first the static pic**********
 //    //std::string fileName = getFileName(begin);
 //    std::string staticFile = inputDir+"/bk.jpg";
@@ -348,6 +376,11 @@ int main(int argc, char * argv[])
 
             if(img_input.data )
             {
+                //! step 0 we take care about the lense distortion
+                //! correct lense distortion
+                //Mat imgLenseCorrection = img_input.clone();
+                cv::undistort(img_input, img_input, intrinsicsCameraMatrix, distortionCoeff);
+
                 //! we cut out a smaller ROI,
                 //! step 1)
                 img_input = TToolBox::cropImageCircle(img_input,circleCenterX,circleCenterY,circleRadius);