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src/pinhole_camera_model.cpp

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+#include <robot_image_geometry/pinhole_camera_model.h>
+#include <robot_sensor_msgs/distortion_models.h>
+#include <opencv2/calib3d/calib3d.hpp>
+#ifdef BOOST_SHARED_PTR_HPP_INCLUDED
+#include <boost/make_shared.hpp>
+#endif
+
+namespace image_geometry {
+
+enum DistortionState { NONE, CALIBRATED, UNKNOWN };
+enum DistortionModel { EQUIDISTANT, PLUMB_BOB_OR_RATIONAL_POLYNOMIAL, UNKNOWN_MODEL };
+
+struct PinholeCameraModel::Cache
+{
+  DistortionState distortion_state;
+  DistortionModel distortion_model;
+
+  cv::Mat_<double> K_binned, P_binned; // Binning applied, but not cropping
+
+  mutable bool full_maps_dirty;
+  mutable cv::Mat full_map1, full_map2;
+
+  mutable bool reduced_maps_dirty;
+  mutable cv::Mat reduced_map1, reduced_map2;
+
+  mutable bool unrectify_full_maps_dirty;
+  mutable cv::Mat unrectify_full_map1, unrectify_full_map2;
+
+  mutable bool unrectify_reduced_maps_dirty;
+  mutable cv::Mat unrectify_reduced_map1, unrectify_reduced_map2;
+
+  mutable bool rectified_roi_dirty;
+  mutable cv::Rect rectified_roi;
+
+  Cache()
+    : distortion_state(UNKNOWN),
+      distortion_model(UNKNOWN_MODEL),
+      full_maps_dirty(true),
+      reduced_maps_dirty(true),
+      unrectify_full_maps_dirty(true),
+      unrectify_reduced_maps_dirty(true),
+      rectified_roi_dirty(true)
+  {
+  }
+};
+
+PinholeCameraModel::PinholeCameraModel()
+{
+}
+
+PinholeCameraModel& PinholeCameraModel::operator=(const PinholeCameraModel& other)
+{
+  if (other.initialized())
+    this->fromCameraInfo(other.cameraInfo());
+  return *this;
+}
+
+PinholeCameraModel::PinholeCameraModel(const PinholeCameraModel& other)
+{
+  if (other.initialized())
+    fromCameraInfo(other.cam_info_);
+}
+
+// For uint32_t, string, bool...
+template<typename T>
+bool update(const T& new_val, T& my_val)
+{
+  if (my_val == new_val)
+    return false;
+  my_val = new_val;
+  return true;
+}
+
+// For std::vector
+template<typename MatT>
+bool updateMat(const MatT& new_mat, MatT& my_mat, cv::Mat_<double>& cv_mat, int rows, int cols)
+{
+  if ((my_mat == new_mat) && (my_mat.size() == static_cast<size_t>(cv_mat.rows * cv_mat.cols)))
+    return false;
+  my_mat = new_mat;
+  // D may be empty if camera is uncalibrated or distortion model is non-standard
+  cv_mat = (my_mat.size() == 0) ? cv::Mat_<double>() : cv::Mat_<double>(rows, cols, &my_mat[0]);
+  return true;
+}
+
+template<typename MatT, typename MatU>
+bool updateMat(const MatT& new_mat, MatT& my_mat, MatU& cv_mat)
+{
+  if ((my_mat == new_mat) && (my_mat.size() == cv_mat.rows*cv_mat.cols))
+    return false;
+  my_mat = new_mat;
+  // D may be empty if camera is uncalibrated or distortion model is non-standard
+  cv_mat = MatU(&my_mat[0]);
+  return true;
+}
+
+bool PinholeCameraModel::fromCameraInfo(const robot_sensor_msgs::CameraInfo& msg)
+{
+  // Create our repository of cached data (rectification maps, etc.)
+  if (!cache_)
+#ifdef BOOST_SHARED_PTR_HPP_INCLUDED
+    cache_ = boost::make_shared<Cache>();
+#else
+    cache_ = std::make_shared<Cache>();
+#endif
+
+  // Binning = 0 is considered the same as binning = 1 (no binning).
+  uint32_t binning_x = msg.binning_x ? msg.binning_x : 1;
+  uint32_t binning_y = msg.binning_y ? msg.binning_y : 1;
+
+  // ROI all zeros is considered the same as full resolution.
+  robot_sensor_msgs::RegionOfInterest roi = msg.roi;
+  if (roi.x_offset == 0 && roi.y_offset == 0 && roi.width == 0 && roi.height == 0) {
+    roi.width  = msg.width;
+    roi.height = msg.height;
+  }
+
+  // Update time stamp (and frame_id if that changes for some reason)
+  cam_info_.header = msg.header;
+
+  // Update any parameters that have changed. The full rectification maps are
+  // invalidated by any change in the calibration parameters OR binning.
+  bool full_dirty = false;
+  full_dirty |= update(msg.height, cam_info_.height);
+  full_dirty |= update(msg.width,  cam_info_.width);
+  full_dirty |= update(msg.distortion_model, cam_info_.distortion_model);
+  full_dirty |= updateMat(msg.D, cam_info_.D, D_, 1, msg.D.size());
+  full_dirty |= updateMat(msg.K, cam_info_.K, K_full_);
+  full_dirty |= updateMat(msg.R, cam_info_.R, R_);
+  full_dirty |= updateMat(msg.P, cam_info_.P, P_full_);
+  full_dirty |= update(binning_x, cam_info_.binning_x);
+  full_dirty |= update(binning_y, cam_info_.binning_y);
+  cache_->full_maps_dirty |= full_dirty;
+  cache_->unrectify_full_maps_dirty |= full_dirty;
+
+  // The reduced rectification maps are invalidated by any of the above or a
+  // change in ROI.
+  bool reduced_dirty = full_dirty;
+  reduced_dirty |= update(roi.x_offset,   cam_info_.roi.x_offset);
+  reduced_dirty |= update(roi.y_offset,   cam_info_.roi.y_offset);
+  reduced_dirty |= update(roi.height,     cam_info_.roi.height);
+  reduced_dirty |= update(roi.width,      cam_info_.roi.width);
+  reduced_dirty |= update(roi.do_rectify, cam_info_.roi.do_rectify);
+  cache_->reduced_maps_dirty |= reduced_dirty;
+  cache_->reduced_maps_dirty |= cache_->full_maps_dirty;
+  cache_->unrectify_reduced_maps_dirty |= reduced_dirty;
+  cache_->unrectify_reduced_maps_dirty |= cache_->unrectify_full_maps_dirty;
+
+  // As is the rectified ROI
+  cache_->rectified_roi_dirty |= reduced_dirty;
+
+  // Figure out how to handle the distortion
+  if (cam_info_.distortion_model == robot_sensor_msgs::distortion_models::PLUMB_BOB ||
+      cam_info_.distortion_model == robot_sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL ||
+      cam_info_.distortion_model == robot_sensor_msgs::distortion_models::EQUIDISTANT) {
+    // If any distortion coefficient is non-zero, then need to apply the distortion
+    cache_->distortion_state = NONE;
+    for (size_t i = 0; i < cam_info_.D.size(); ++i)
+    {
+      if (cam_info_.D[i] != 0)
+      {
+        cache_->distortion_state = CALIBRATED;
+        break;
+      }
+    }
+  }
+  else
+    cache_->distortion_state = UNKNOWN;
+
+  // Get the distortion model, if supported
+  if (cam_info_.distortion_model == robot_sensor_msgs::distortion_models::PLUMB_BOB ||
+      cam_info_.distortion_model == robot_sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL) {
+    cache_->distortion_model = PLUMB_BOB_OR_RATIONAL_POLYNOMIAL;
+  }
+  else if(cam_info_.distortion_model == robot_sensor_msgs::distortion_models::EQUIDISTANT) {
+    cache_->distortion_model = EQUIDISTANT;
+  }
+  else
+    cache_->distortion_model = UNKNOWN_MODEL;
+
+  // If necessary, create new K_ and P_ adjusted for binning and ROI
+  /// @todo Calculate and use rectified ROI
+  bool adjust_binning = (binning_x > 1) || (binning_y > 1);
+  bool adjust_roi = (roi.x_offset != 0) || (roi.y_offset != 0);
+
+  if (!adjust_binning && !adjust_roi) {
+    K_ = K_full_;
+    P_ = P_full_;
+  }
+  else {
+    K_ = K_full_;
+    P_ = P_full_;
+
+    // ROI is in full image coordinates, so change it first
+    if (adjust_roi) {
+      // Move principal point by the offset
+      /// @todo Adjust P by rectified ROI instead
+      K_(0,2) -= roi.x_offset;
+      K_(1,2) -= roi.y_offset;
+      P_(0,2) -= roi.x_offset;
+      P_(1,2) -= roi.y_offset;
+    }
+
+    if (binning_x > 1) {
+      double scale_x = 1.0 / binning_x;
+      K_(0,0) *= scale_x;
+      K_(0,2) *= scale_x;
+      P_(0,0) *= scale_x;
+      P_(0,2) *= scale_x;
+      P_(0,3) *= scale_x;
+    }
+    if (binning_y > 1) {
+      double scale_y = 1.0 / binning_y;
+      K_(1,1) *= scale_y;
+      K_(1,2) *= scale_y;
+      P_(1,1) *= scale_y;
+      P_(1,2) *= scale_y;
+      P_(1,3) *= scale_y;
+    }
+  }
+
+  return reduced_dirty;
+}
+
+bool PinholeCameraModel::fromCameraInfo(const robot_sensor_msgs::CameraInfoConstPtr& msg)
+{
+  return fromCameraInfo(*msg);
+}
+
+cv::Size PinholeCameraModel::fullResolution() const
+{
+  assert( initialized() );
+  return cv::Size(cam_info_.width, cam_info_.height);
+}
+
+cv::Size PinholeCameraModel::reducedResolution() const
+{
+  assert( initialized() );
+
+  cv::Rect roi = rectifiedRoi();
+  return cv::Size(roi.width / binningX(), roi.height / binningY());
+}
+
+cv::Point2d PinholeCameraModel::toFullResolution(const cv::Point2d& uv_reduced) const
+{
+  cv::Rect roi = rectifiedRoi();
+  return cv::Point2d(uv_reduced.x * binningX() + roi.x,
+                     uv_reduced.y * binningY() + roi.y);
+}
+
+cv::Rect PinholeCameraModel::toFullResolution(const cv::Rect& roi_reduced) const
+{
+  cv::Rect roi = rectifiedRoi();
+  return cv::Rect(roi_reduced.x * binningX() + roi.x,
+                  roi_reduced.y * binningY() + roi.y,
+                  roi_reduced.width  * binningX(),
+                  roi_reduced.height * binningY());
+}
+
+cv::Point2d PinholeCameraModel::toReducedResolution(const cv::Point2d& uv_full) const
+{
+  cv::Rect roi = rectifiedRoi();
+  return cv::Point2d((uv_full.x - roi.x) / binningX(),
+                     (uv_full.y - roi.y) / binningY());
+}
+
+cv::Rect PinholeCameraModel::toReducedResolution(const cv::Rect& roi_full) const
+{
+  cv::Rect roi = rectifiedRoi();
+  return cv::Rect((roi_full.x - roi.x) / binningX(),
+                  (roi_full.y - roi.y) / binningY(),
+                  roi_full.width  / binningX(),
+                  roi_full.height / binningY());
+}
+
+cv::Rect PinholeCameraModel::rawRoi() const
+{
+  assert( initialized() );
+
+  return cv::Rect(cam_info_.roi.x_offset, cam_info_.roi.y_offset,
+                  cam_info_.roi.width, cam_info_.roi.height);
+}
+
+cv::Rect PinholeCameraModel::rectifiedRoi() const
+{
+  assert( initialized() );
+
+  if (cache_->rectified_roi_dirty)
+  {
+    if (!cam_info_.roi.do_rectify)
+      cache_->rectified_roi = rawRoi();
+    else
+      cache_->rectified_roi = rectifyRoi(rawRoi());
+    cache_->rectified_roi_dirty = false;
+  }
+  return cache_->rectified_roi;
+}
+
+cv::Point2d PinholeCameraModel::project3dToPixel(const cv::Point3d& xyz) const
+{
+  assert( initialized() );
+  assert(P_(2, 3) == 0.0); // Calibrated stereo cameras should be in the same plane
+
+  // [U V W]^T = P * [X Y Z 1]^T
+  // u = U/W
+  // v = V/W
+  cv::Point2d uv_rect;
+  uv_rect.x = (fx()*xyz.x + Tx()) / xyz.z + cx();
+  uv_rect.y = (fy()*xyz.y + Ty()) / xyz.z + cy();
+  return uv_rect;
+}
+
+cv::Point3d PinholeCameraModel::projectPixelTo3dRay(const cv::Point2d& uv_rect) const
+{
+  return projectPixelTo3dRay(uv_rect, P_);
+}
+
+cv::Point3d PinholeCameraModel::projectPixelTo3dRay(const cv::Point2d& uv_rect, const cv::Matx34d& P) const
+{
+  assert( initialized() );
+
+  const double& fx = P(0,0);
+  const double& fy = P(1,1);
+  const double& cx = P(0,2);
+  const double& cy = P(1,2);
+  const double& Tx = P(0,3);
+  const double& Ty = P(1,3);
+
+  cv::Point3d ray;
+  ray.x = (uv_rect.x - cx - Tx) / fx;
+  ray.y = (uv_rect.y - cy - Ty) / fy;
+  ray.z = 1.0;
+  return ray;
+}
+
+void PinholeCameraModel::rectifyImage(const cv::Mat& raw, cv::Mat& rectified, int interpolation) const
+{
+  assert( initialized() );
+
+  switch (cache_->distortion_state) {
+    case NONE:
+      raw.copyTo(rectified);
+      break;
+    case CALIBRATED:
+      initRectificationMaps();
+      if (raw.depth() == CV_32F || raw.depth() == CV_64F)
+      {
+        cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation, cv::BORDER_CONSTANT, std::numeric_limits<float>::quiet_NaN());
+      }
+      else {
+        cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation);
+      }
+      break;
+    default:
+      assert(cache_->distortion_state == UNKNOWN);
+      throw Exception("Cannot call rectifyImage when distortion is unknown.");
+  }
+}
+
+void PinholeCameraModel::unrectifyImage(const cv::Mat& rectified, cv::Mat& raw, int interpolation) const
+{
+  assert( initialized() );
+
+  switch (cache_->distortion_state) {
+    case NONE:
+      rectified.copyTo(raw);
+      break;
+    case CALIBRATED:
+      initUnrectificationMaps();
+      if (rectified.depth() == CV_32F || rectified.depth() == CV_64F)
+      {
+        cv::remap(rectified, raw, cache_->unrectify_reduced_map1, cache_->unrectify_reduced_map2, interpolation, cv::BORDER_CONSTANT, std::numeric_limits<float>::quiet_NaN());
+      }
+      else {
+        cv::remap(rectified, raw, cache_->unrectify_reduced_map1, cache_->unrectify_reduced_map2, interpolation);
+      }
+      break;
+    default:
+      assert(cache_->distortion_state == UNKNOWN);
+      throw Exception("Cannot call rectifyImage when distortion is unknown.");
+  }
+}
+
+cv::Point2d PinholeCameraModel::rectifyPoint(const cv::Point2d& uv_raw) const
+{
+  return rectifyPoint(uv_raw, K_, P_);
+}
+
+cv::Point2d PinholeCameraModel::rectifyPoint(const cv::Point2d& uv_raw, const cv::Matx33d& K, const cv::Matx34d& P) const
+{
+  assert( initialized() );
+
+  if (cache_->distortion_state == NONE)
+    return uv_raw;
+  if (cache_->distortion_state == UNKNOWN)
+    throw Exception("Cannot call rectifyPoint when distortion is unknown.");
+  assert(cache_->distortion_state == CALIBRATED);
+
+  /// @todo cv::undistortPoints requires the point data to be float, should allow double
+  cv::Point2f raw32 = uv_raw, rect32;
+  const cv::Mat src_pt(1, 1, CV_32FC2, &raw32.x);
+  cv::Mat dst_pt(1, 1, CV_32FC2, &rect32.x);
+
+  switch (cache_->distortion_model) {
+    case PLUMB_BOB_OR_RATIONAL_POLYNOMIAL:
+      cv::undistortPoints(src_pt, dst_pt, K, D_, R_, P);
+      break;
+    case EQUIDISTANT:
+      cv::fisheye::undistortPoints(src_pt, dst_pt, K, D_, R_, P);
+      break;
+    default:
+      assert(cache_->distortion_model == UNKNOWN_MODEL);
+      throw Exception("Wrong distortion model. Supported models: PLUMB_BOB, RATIONAL_POLYNOMIAL and EQUIDISTANT.");
+  }
+  return rect32;
+}
+
+cv::Point2d PinholeCameraModel::unrectifyPoint(const cv::Point2d& uv_rect) const
+{
+  return unrectifyPoint(uv_rect, K_, P_);
+}
+
+cv::Point2d PinholeCameraModel::unrectifyPoint(const cv::Point2d& uv_rect, const cv::Matx33d& K, const cv::Matx34d& P) const
+{
+  assert( initialized() );
+
+  if (cache_->distortion_state == NONE)
+    return uv_rect;
+  if (cache_->distortion_state == UNKNOWN)
+    throw Exception("Cannot call unrectifyPoint when distortion is unknown.");
+  assert(cache_->distortion_state == CALIBRATED);
+
+  // Convert to a ray
+  cv::Point3d ray = projectPixelTo3dRay(uv_rect, P);
+
+  // Project the ray on the image
+  cv::Mat r_vec, t_vec = cv::Mat_<double>::zeros(3, 1);
+  cv::Rodrigues(R_.t(), r_vec);
+  std::vector<cv::Point2d> image_point;
+
+  switch (cache_->distortion_model) {
+    case PLUMB_BOB_OR_RATIONAL_POLYNOMIAL:
+      cv::projectPoints(std::vector<cv::Point3d>(1, ray), r_vec, t_vec, K, D_, image_point);
+      break;
+    case EQUIDISTANT:
+      cv::fisheye::projectPoints(std::vector<cv::Point3d>(1, ray), image_point, r_vec, t_vec, K, D_);
+      break;
+    default:
+      assert(cache_->distortion_model == UNKNOWN_MODEL);
+      throw Exception("Wrong distortion model. Supported models: PLUMB_BOB, RATIONAL_POLYNOMIAL and EQUIDISTANT.");
+  }
+
+  return image_point[0];
+}
+
+cv::Rect PinholeCameraModel::rectifyRoi(const cv::Rect& roi_raw) const
+{
+  assert( initialized() );
+
+  /// @todo Actually implement "best fit" as described by REP 104.
+
+  // For now, just unrectify the four corners and take the bounding box.
+  // Since ROI is specified in unbinned coordinates (see REP-104), this has to use K_full_ and P_full_.
+  cv::Point2d rect_tl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y), K_full_, P_full_);
+  cv::Point2d rect_tr = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width, roi_raw.y), K_full_, P_full_);
+  cv::Point2d rect_br = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width,
+                                                 roi_raw.y + roi_raw.height), K_full_, P_full_);
+  cv::Point2d rect_bl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y + roi_raw.height), K_full_, P_full_);
+
+  cv::Point roi_tl(std::ceil (std::min(rect_tl.x, rect_bl.x)),
+                   std::ceil (std::min(rect_tl.y, rect_tr.y)));
+  cv::Point roi_br(std::floor(std::max(rect_tr.x, rect_br.x)),
+                   std::floor(std::max(rect_bl.y, rect_br.y)));
+
+  return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y);
+}
+
+cv::Rect PinholeCameraModel::unrectifyRoi(const cv::Rect& roi_rect) const
+{
+  assert( initialized() );
+
+  /// @todo Actually implement "best fit" as described by REP 104.
+
+  // For now, just unrectify the four corners and take the bounding box.
+  cv::Point2d raw_tl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y));
+  cv::Point2d raw_tr = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width, roi_rect.y));
+  cv::Point2d raw_br = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width,
+                                                  roi_rect.y + roi_rect.height));
+  cv::Point2d raw_bl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y + roi_rect.height));
+
+  cv::Point roi_tl(std::floor(std::min(raw_tl.x, raw_bl.x)),
+                   std::floor(std::min(raw_tl.y, raw_tr.y)));
+  cv::Point roi_br(std::ceil (std::max(raw_tr.x, raw_br.x)),
+                   std::ceil (std::max(raw_bl.y, raw_br.y)));
+
+  return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y);
+}
+
+void PinholeCameraModel::initRectificationMaps() const
+{
+  /// @todo For large binning settings, can drop extra rows/cols at bottom/right boundary.
+  /// Make sure we're handling that 100% correctly.
+
+  if (cache_->full_maps_dirty) {
+    // Create the full-size map at the binned resolution
+    /// @todo Should binned resolution, K, P be part of public API?
+    cv::Size binned_resolution = fullResolution();
+    binned_resolution.width  /= binningX();
+    binned_resolution.height /= binningY();
+
+    cv::Matx33d K_binned;
+    cv::Matx34d P_binned;
+    if (binningX() == 1 && binningY() == 1) {
+      K_binned = K_full_;
+      P_binned = P_full_;
+    }
+    else {
+      K_binned = K_full_;
+      P_binned = P_full_;
+      if (binningX() > 1) {
+        double scale_x = 1.0 / binningX();
+        K_binned(0,0) *= scale_x;
+        K_binned(0,2) *= scale_x;
+        P_binned(0,0) *= scale_x;
+        P_binned(0,2) *= scale_x;
+        P_binned(0,3) *= scale_x;
+      }
+      if (binningY() > 1) {
+        double scale_y = 1.0 / binningY();
+        K_binned(1,1) *= scale_y;
+        K_binned(1,2) *= scale_y;
+        P_binned(1,1) *= scale_y;
+        P_binned(1,2) *= scale_y;
+        P_binned(1,3) *= scale_y;
+      }
+    }
+
+    switch (cache_->distortion_model) {
+      case PLUMB_BOB_OR_RATIONAL_POLYNOMIAL:
+        // Note: m1type=CV_16SC2 to use fast fixed-point maps (see cv::remap)
+        cv::initUndistortRectifyMap(K_binned, D_, R_, P_binned, binned_resolution,
+                                    CV_16SC2, cache_->full_map1, cache_->full_map2);
+        break;
+      case EQUIDISTANT:
+        cv::fisheye::initUndistortRectifyMap(K_binned,D_, R_, P_binned, binned_resolution,
+                                             CV_16SC2, cache_->full_map1, cache_->full_map2);
+        break;
+      default:
+        assert(cache_->distortion_model == UNKNOWN_MODEL);
+        throw Exception("Wrong distortion model. Supported models: PLUMB_BOB, RATIONAL_POLYNOMIAL and EQUIDISTANT.");
+    }
+    cache_->full_maps_dirty = false;
+  }
+
+  if (cache_->reduced_maps_dirty) {
+    /// @todo Use rectified ROI
+    cv::Rect roi(cam_info_.roi.x_offset, cam_info_.roi.y_offset,
+                 cam_info_.roi.width, cam_info_.roi.height);
+    if (roi.x != 0 || roi.y != 0 ||
+        (roi.height != 0 && roi.height != (int)cam_info_.height) ||
+        (roi.width != 0 && roi.width  != (int)cam_info_.width)) {
+
+      // map1 contains integer (x,y) offsets, which we adjust by the ROI offset
+      // map2 contains LUT index for subpixel interpolation, which we can leave as-is
+      roi.x /= binningX();
+      roi.y /= binningY();
+      roi.width  /= binningX();
+      roi.height /= binningY();
+      cache_->reduced_map1 = cache_->full_map1(roi) - cv::Scalar(roi.x, roi.y);
+      cache_->reduced_map2 = cache_->full_map2(roi);
+    }
+    else {
+      // Otherwise we're rectifying the full image
+      cache_->reduced_map1 = cache_->full_map1;
+      cache_->reduced_map2 = cache_->full_map2;
+    }
+    cache_->reduced_maps_dirty = false;
+  }
+}
+
+void PinholeCameraModel::initUnrectificationMaps() const
+{
+  /// @todo For large binning settings, can drop extra rows/cols at bottom/right boundary.
+  /// Make sure we're handling that 100% correctly.
+
+  if (cache_->unrectify_full_maps_dirty) {
+    // Create the full-size map at the binned resolution
+    /// @todo Should binned resolution, K, P be part of public API?
+    cv::Size binned_resolution = fullResolution();
+    binned_resolution.width  /= binningX();
+    binned_resolution.height /= binningY();
+
+    cv::Matx33d K_binned;
+    cv::Matx34d P_binned;
+    if (binningX() == 1 && binningY() == 1) {
+      K_binned = K_full_;
+      P_binned = P_full_;
+    }
+    else {
+      K_binned = K_full_;
+      P_binned = P_full_;
+      if (binningX() > 1) {
+        double scale_x = 1.0 / binningX();
+        K_binned(0,0) *= scale_x;
+        K_binned(0,2) *= scale_x;
+        P_binned(0,0) *= scale_x;
+        P_binned(0,2) *= scale_x;
+        P_binned(0,3) *= scale_x;
+      }
+      if (binningY() > 1) {
+        double scale_y = 1.0 / binningY();
+        K_binned(1,1) *= scale_y;
+        K_binned(1,2) *= scale_y;
+        P_binned(1,1) *= scale_y;
+        P_binned(1,2) *= scale_y;
+        P_binned(1,3) *= scale_y;
+      }
+    }
+
+    cv::Mat float_map_x(binned_resolution.height, binned_resolution.width, CV_32FC1);
+    cv::Mat float_map_y(binned_resolution.height, binned_resolution.width, CV_32FC1);
+    for (size_t x = 0; x < static_cast<size_t>(binned_resolution.width); x++) {
+      for (size_t y = 0; y < static_cast<size_t>(binned_resolution.height); y++) {
+        cv::Point2f uv_raw(x, y), uv_rect;
+        uv_rect = rectifyPoint(uv_raw, K_binned, P_binned);
+        float_map_x.at<float>(y, x) = uv_rect.x;
+        float_map_y.at<float>(y, x) = uv_rect.y;
+      }
+    }
+    // Note: m1type=CV_16SC2 to use fast fixed-point maps (see cv::remap)
+    convertMaps(float_map_x, float_map_y, cache_->unrectify_full_map1, cache_->unrectify_full_map2, CV_16SC2);
+    cache_->unrectify_full_maps_dirty = false;
+  }
+
+  if (cache_->unrectify_reduced_maps_dirty) {
+    /// @todo Use rectified ROI
+    cv::Rect roi(cam_info_.roi.x_offset, cam_info_.roi.y_offset,
+                 cam_info_.roi.width, cam_info_.roi.height);
+    if (roi.x != 0 || roi.y != 0 ||
+        (roi.height != 0 && roi.height != (int)cam_info_.height) ||
+        (roi.width != 0 && roi.width  != (int)cam_info_.width)) {
+
+      // map1 contains integer (x,y) offsets, which we adjust by the ROI offset
+      // map2 contains LUT index for subpixel interpolation, which we can leave as-is
+      roi.x /= binningX();
+      roi.y /= binningY();
+      roi.width  /= binningX();
+      roi.height /= binningY();
+      cache_->unrectify_reduced_map1 = cache_->unrectify_full_map1(roi) - cv::Scalar(roi.x, roi.y);
+      cache_->unrectify_reduced_map2 = cache_->unrectify_full_map2(roi);
+    }
+    else {
+      // Otherwise we're rectifying the full image
+      cache_->unrectify_reduced_map1 = cache_->unrectify_full_map1;
+      cache_->unrectify_reduced_map2 = cache_->unrectify_full_map2;
+    }
+    cache_->unrectify_reduced_maps_dirty = false;
+  }
+}
+
+} //namespace image_geometry