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#ifndef __OPENCV_STITCHING_WARPERS_HPP__
#define __OPENCV_STITCHING_WARPERS_HPP__
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/opencv_modules.hpp"
#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
# include "opencv2/gpu/gpu.hpp"
#endif
namespace cv {
namespace detail {
class CV_EXPORTS RotationWarper
{
public:
virtual ~RotationWarper() {}
virtual Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R) = 0;
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) = 0;
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst) = 0;
virtual void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Size dst_size, Mat &dst) = 0;
virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
float getScale() const { return 1.f; }
void setScale(float) {}
};
struct CV_EXPORTS ProjectorBase
{
void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
const Mat &R = Mat::eye(3, 3, CV_32F),
const Mat &T = Mat::zeros(3, 1, CV_32F));
float scale;
float k[9];
float rinv[9];
float r_kinv[9];
float k_rinv[9];
float t[3];
};
template <class P>
class CV_EXPORTS RotationWarperBase : public RotationWarper
{
public:
Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst);
void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Size dst_size, Mat &dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &R);
float getScale() const { return projector_.scale; }
void setScale(float val) { projector_.scale = val; }
protected:
// Detects ROI of the destination image. It's correct for any projection.
virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
// Detects ROI of the destination image by walking over image border.
// Correctness for any projection isn't guaranteed.
void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
P projector_;
};
struct CV_EXPORTS PlaneProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
{
public:
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
void setScale(float scale) { projector_.scale = scale; }
Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T);
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
struct CV_EXPORTS SphericalProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
// Projects image onto unit sphere with origin at (0, 0, 0).
// Poles are located at (0, -1, 0) and (0, 1, 0) points.
class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
{
public:
SphericalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
struct CV_EXPORTS CylindricalProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
// Projects image onto x * x + z * z = 1 cylinder
class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
{
public:
CylindricalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
struct CV_EXPORTS FisheyeProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS FisheyeWarper : public RotationWarperBase<FisheyeProjector>
{
public:
FisheyeWarper(float scale) { projector_.scale = scale; }
};
struct CV_EXPORTS StereographicProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS StereographicWarper : public RotationWarperBase<StereographicProjector>
{
public:
StereographicWarper(float scale) { projector_.scale = scale; }
};
struct CV_EXPORTS CompressedRectilinearProjector : ProjectorBase
{
float a, b;
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS CompressedRectilinearWarper : public RotationWarperBase<CompressedRectilinearProjector>
{
public:
CompressedRectilinearWarper(float scale, float A = 1, float B = 1)
{
projector_.a = A;
projector_.b = B;
projector_.scale = scale;
}
};
struct CV_EXPORTS CompressedRectilinearPortraitProjector : ProjectorBase
{
float a, b;
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS CompressedRectilinearPortraitWarper : public RotationWarperBase<CompressedRectilinearPortraitProjector>
{
public:
CompressedRectilinearPortraitWarper(float scale, float A = 1, float B = 1)
{
projector_.a = A;
projector_.b = B;
projector_.scale = scale;
}
};
struct CV_EXPORTS PaniniProjector : ProjectorBase
{
float a, b;
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS PaniniWarper : public RotationWarperBase<PaniniProjector>
{
public:
PaniniWarper(float scale, float A = 1, float B = 1)
{
projector_.a = A;
projector_.b = B;
projector_.scale = scale;
}
};
struct CV_EXPORTS PaniniPortraitProjector : ProjectorBase
{
float a, b;
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS PaniniPortraitWarper : public RotationWarperBase<PaniniPortraitProjector>
{
public:
PaniniPortraitWarper(float scale, float A = 1, float B = 1)
{
projector_.a = A;
projector_.b = B;
projector_.scale = scale;
}
};
struct CV_EXPORTS MercatorProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS MercatorWarper : public RotationWarperBase<MercatorProjector>
{
public:
MercatorWarper(float scale) { projector_.scale = scale; }
};
struct CV_EXPORTS TransverseMercatorProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS TransverseMercatorWarper : public RotationWarperBase<TransverseMercatorProjector>
{
public:
TransverseMercatorWarper(float scale) { projector_.scale = scale; }
};
#if defined(HAVE_OPENCV_GPU) && !defined(ANDROID)
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, T, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, T, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
{
public:
SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
{
public:
CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
#endif
struct SphericalPortraitProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
// Projects image onto unit sphere with origin at (0, 0, 0).
// Poles are located NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.
class CV_EXPORTS SphericalPortraitWarper : public RotationWarperBase<SphericalPortraitProjector>
{
public:
SphericalPortraitWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
struct CylindricalPortraitProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS CylindricalPortraitWarper : public RotationWarperBase<CylindricalPortraitProjector>
{
public:
CylindricalPortraitWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<CylindricalPortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
struct PlanePortraitProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CV_EXPORTS PlanePortraitWarper : public RotationWarperBase<PlanePortraitProjector>
{
public:
PlanePortraitWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<PlanePortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
} // namespace detail
} // namespace cv
#include "warpers_inl.hpp"
#endif // __OPENCV_STITCHING_WARPERS_HPP__
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