sustaining_gazes/lib/3rdParty/OpenCV3.4/include/opencv2/stitching/detail/warpers.hpp

617 lines
19 KiB
C++
Raw Normal View History

2016-04-28 19:40:36 +00:00
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
2018-02-01 20:10:10 +00:00
#ifndef OPENCV_STITCHING_WARPERS_HPP
#define OPENCV_STITCHING_WARPERS_HPP
2016-04-28 19:40:36 +00:00
#include "opencv2/core.hpp"
#include "opencv2/core/cuda.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/opencv_modules.hpp"
namespace cv {
namespace detail {
//! @addtogroup stitching_warp
//! @{
/** @brief Rotation-only model image warper interface.
*/
class CV_EXPORTS RotationWarper
{
public:
virtual ~RotationWarper() {}
/** @brief Projects the image point.
@param pt Source point
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@return Projected point
*/
virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
/** @brief Builds the projection maps according to the given camera data.
@param src_size Source image size
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@param xmap Projection map for the x axis
@param ymap Projection map for the y axis
@return Projected image minimum bounding box
*/
virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
/** @brief Projects the image.
@param src Source image
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@param interp_mode Interpolation mode
@param border_mode Border extrapolation mode
@param dst Projected image
@return Project image top-left corner
*/
virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray dst) = 0;
/** @brief Projects the image backward.
@param src Projected image
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@param interp_mode Interpolation mode
@param border_mode Border extrapolation mode
@param dst_size Backward-projected image size
@param dst Backward-projected image
*/
virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, OutputArray dst) = 0;
/**
@param src_size Source image bounding box
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@return Projected image minimum bounding box
*/
virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
virtual float getScale() const { return 1.f; }
virtual void setScale(float) {}
};
/** @brief Base class for warping logic implementation.
*/
struct CV_EXPORTS ProjectorBase
{
void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
InputArray R = Mat::eye(3, 3, CV_32F),
InputArray 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];
};
/** @brief Base class for rotation-based warper using a detail::ProjectorBase_ derived class.
*/
template <class P>
2018-02-01 20:10:10 +00:00
class CV_EXPORTS_TEMPLATE RotationWarperBase : public RotationWarper
2016-04-28 19:40:36 +00:00
{
public:
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray dst);
void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, OutputArray dst);
Rect warpRoi(Size src_size, InputArray K, InputArray 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);
};
/** @brief Warper that maps an image onto the z = 1 plane.
*/
class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
{
public:
/** @brief Construct an instance of the plane warper class.
@param scale Projected image scale multiplier
*/
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R,
int interp_mode, int border_mode, OutputArray dst);
virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
OutputArray dst);
Rect warpRoi(Size src_size, InputArray K, InputArray R);
Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
2018-02-01 20:10:10 +00:00
/** @brief Affine warper that uses rotations and translations
Uses affine transformation in homogeneous coordinates to represent both rotation and
translation in camera rotation matrix.
*/
class CV_EXPORTS AffineWarper : public PlaneWarper
{
public:
/** @brief Construct an instance of the affine warper class.
@param scale Projected image scale multiplier
*/
AffineWarper(float scale = 1.f) : PlaneWarper(scale) {}
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R,
int interp_mode, int border_mode, OutputArray dst);
Rect warpRoi(Size src_size, InputArray K, InputArray R);
protected:
/** @brief Extracts rotation and translation matrices from matrix H representing
affine transformation in homogeneous coordinates
*/
void getRTfromHomogeneous(InputArray H, Mat &R, Mat &T);
};
2016-04-28 19:40:36 +00:00
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);
};
/** @brief Warper that maps an image onto the unit sphere located at the origin.
2018-02-01 20:10:10 +00:00
Projects image onto unit sphere with origin at (0, 0, 0) and radius scale, measured in pixels.
A 360 panorama would therefore have a resulting width of 2 * scale * PI pixels.
2016-04-28 19:40:36 +00:00
Poles are located at (0, -1, 0) and (0, 1, 0) points.
*/
class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
{
public:
/** @brief Construct an instance of the spherical warper class.
2018-02-01 20:10:10 +00:00
@param scale Radius of the projected sphere, in pixels. An image spanning the
whole sphere will have a width of 2 * scale * PI pixels.
2016-04-28 19:40:36 +00:00
*/
SphericalWarper(float scale) { projector_.scale = scale; }
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
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);
};
/** @brief Warper that maps an image onto the x\*x + z\*z = 1 cylinder.
*/
class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
{
public:
/** @brief Construct an instance of the cylindrical warper class.
@param scale Projected image scale multiplier
*/
CylindricalWarper(float scale) { projector_.scale = scale; }
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
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; }
};
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray 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, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray 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(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray 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(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
OutputArray 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, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst);
Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
cuda::GpuMat & dst);
private:
cuda::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, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray 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, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst);
private:
cuda::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, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray 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, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst);
private:
cuda::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
2018-02-01 20:10:10 +00:00
struct CV_EXPORTS SphericalPortraitProjector : ProjectorBase
2016-04-28 19:40:36 +00:00
{
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);
};
2018-02-01 20:10:10 +00:00
struct CV_EXPORTS CylindricalPortraitProjector : ProjectorBase
2016-04-28 19:40:36 +00:00
{
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);
}
};
2018-02-01 20:10:10 +00:00
struct CV_EXPORTS PlanePortraitProjector : ProjectorBase
2016-04-28 19:40:36 +00:00
{
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);
}
};
//! @} stitching_warp
} // namespace detail
} // namespace cv
#include "warpers_inl.hpp"
2018-02-01 20:10:10 +00:00
#endif // OPENCV_STITCHING_WARPERS_HPP