From 92f0bf80e575376b74d766d2699baef81d37be96 Mon Sep 17 00:00:00 2001
From: Max Ehrlich <max.ehr@gmail.com>
Date: Tue, 27 Jan 2015 11:16:36 -0500
Subject: [PATCH] Added cv::undistort

---
 src/ImgProc.cc | 44 ++++++++++++++++++++++++++++++++++++++++++++
 src/ImgProc.h  |  2 ++
 2 files changed, 46 insertions(+)

diff --git a/src/ImgProc.cc b/src/ImgProc.cc
index 7945d93..d0b1ea6 100644
--- a/src/ImgProc.cc
+++ b/src/ImgProc.cc
@@ -1,4 +1,5 @@
 #include "ImgProc.h"
+#include "Matrix.h"
 
 void ImgProc::Init(Handle<Object> target)
 {
@@ -6,5 +7,48 @@ void ImgProc::Init(Handle<Object> target)
     Local<Object> obj = NanNew<Object>();
     NanAssignPersistent(inner, obj);
 
+    NODE_SET_METHOD(obj, "undistort", Undistort);
+
     target->Set(NanNew("imgproc"), obj);
 }
+
+// cv::undistort
+NAN_METHOD(ImgProc::Undistort)
+{
+    NanEscapableScope();
+
+    try {
+        // Get the arguments
+
+        // Arg 0 is the image
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat inputImage = m0->mat;
+
+        // Arg 1 is the camera matrix
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat K = m1->mat;
+
+        // Arg 2 is the distortion coefficents
+        Matrix* m2 = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
+        cv::Mat dist = m2->mat;
+
+        // Make an mat to hold the result image
+        cv::Mat outputImage;
+
+        // Undistort
+        cv::undistort(inputImage, outputImage, K, dist);
+
+        // Wrap the output image
+        Local<Object> outMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *outMatrix = ObjectWrap::Unwrap<Matrix>(outMatrixWrap);
+        outMatrix->mat = outputImage;
+
+        // Return the output image
+        NanReturnValue(outMatrixWrap);
+
+    } catch (cv::Exception &e) {
+        const char *err_msg = e.what();
+        NanThrowError(err_msg);
+        NanReturnUndefined();
+    }
+}
diff --git a/src/ImgProc.h b/src/ImgProc.h
index 140b056..c00393f 100644
--- a/src/ImgProc.h
+++ b/src/ImgProc.h
@@ -8,6 +8,8 @@
 class ImgProc: public node::ObjectWrap {
 public:
     static void Init(Handle<Object> target);
+
+    static NAN_METHOD(Undistort);
 };
 
 #endif