From a66d95b53715e1bdf10ca3b49f23f29516d01af7 Mon Sep 17 00:00:00 2001
From: Max Ehrlich <max.ehr@gmail.com>
Date: Tue, 27 Jan 2015 12:02:08 -0500
Subject: [PATCH] Added initUndistortRectifyMap

---
 src/ImgProc.cc | 68 ++++++++++++++++++++++++++++++++++++++++++++++++++
 src/ImgProc.h  |  2 ++
 2 files changed, 70 insertions(+)

diff --git a/src/ImgProc.cc b/src/ImgProc.cc
index d0b1ea6..4291e17 100644
--- a/src/ImgProc.cc
+++ b/src/ImgProc.cc
@@ -8,6 +8,7 @@ void ImgProc::Init(Handle<Object> target)
     NanAssignPersistent(inner, obj);
 
     NODE_SET_METHOD(obj, "undistort", Undistort);
+    NODE_SET_METHOD(obj, "initUndistortRectifyMap", InitUndistortRectifyMap);
 
     target->Set(NanNew("imgproc"), obj);
 }
@@ -52,3 +53,70 @@ NAN_METHOD(ImgProc::Undistort)
         NanReturnUndefined();
     }
 }
+
+// cv::initUndistortRectifyMap
+NAN_METHOD(ImgProc::InitUndistortRectifyMap)
+{
+    NanEscapableScope();
+
+    try {
+
+        // Arg 0 is the camera matrix
+        Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
+        cv::Mat K = m0->mat;
+
+        // Arg 1 is the distortion coefficents
+        Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
+        cv::Mat dist = m1->mat;
+
+        // Arg 2 is the recification transformation
+        Matrix* m2 = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
+        cv::Mat R = m2->mat;
+
+        // Arg 3 is the new camera matrix
+        Matrix* m3 = ObjectWrap::Unwrap<Matrix>(args[3]->ToObject());
+        cv::Mat newK = m3->mat;
+
+        // Arg 4 is the image size
+        cv::Size imageSize;
+        if (args[4]->IsArray()) {
+            Local<Object> v8sz = args[4]->ToObject();
+
+            imageSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
+        } else {
+            JSTHROW_TYPE("Must pass pattern size");
+        }
+
+        // Arg 5 is the first map type, skip for now
+        int m1type = CV_16SC2;
+
+        // Make matrices to hold the output maps
+        cv::Mat map1, map2;
+
+        // Compute the rectification map
+        cv::initUndistortRectifyMap(K, dist, R, newK, imageSize, m1type, map1, map2);
+
+        // Wrap the output maps
+        Local<Object> map1Wrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *map1Matrix = ObjectWrap::Unwrap<Matrix>(map1Wrap);
+        map1Matrix->mat = map1;
+
+        Local<Object> map2Wrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
+        Matrix *map2Matrix = ObjectWrap::Unwrap<Matrix>(map2Wrap);
+        map2Matrix->mat = map2;
+
+        // Make a return object with the two maps
+        Local<Object> ret = NanNew<Object>();
+        ret->Set(NanNew<String>("map1"), map1Wrap);
+        ret->Set(NanNew<String>("map2"), map2Wrap);
+
+        // Return the maps
+        NanReturnValue(ret);
+
+
+    } 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 c00393f..9689403 100644
--- a/src/ImgProc.h
+++ b/src/ImgProc.h
@@ -10,6 +10,8 @@ public:
     static void Init(Handle<Object> target);
 
     static NAN_METHOD(Undistort);
+
+    static NAN_METHOD(InitUndistortRectifyMap);
 };
 
 #endif