775 lines
21 KiB
C++
775 lines
21 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_WARPERS_INL_HPP__
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#define __OPENCV_STITCHING_WARPERS_INL_HPP__
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#include "opencv2/core.hpp"
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#include "warpers.hpp" // Make your IDE see declarations
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#include <limits>
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//! @cond IGNORED
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namespace cv {
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namespace detail {
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template <class P>
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Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputArray R)
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{
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projector_.setCameraParams(K, R);
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Point2f uv;
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projector_.mapForward(pt.x, pt.y, uv.x, uv.y);
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return uv;
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}
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template <class P>
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Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
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{
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projector_.setCameraParams(K, R);
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Point dst_tl, dst_br;
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detectResultRoi(src_size, dst_tl, dst_br);
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_xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
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_ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
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Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
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float x, y;
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for (int v = dst_tl.y; v <= dst_br.y; ++v)
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{
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for (int u = dst_tl.x; u <= dst_br.x; ++u)
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{
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projector_.mapBackward(static_cast<float>(u), static_cast<float>(v), x, y);
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xmap.at<float>(v - dst_tl.y, u - dst_tl.x) = x;
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ymap.at<float>(v - dst_tl.y, u - dst_tl.x) = y;
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}
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}
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return Rect(dst_tl, dst_br);
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}
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template <class P>
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Point RotationWarperBase<P>::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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OutputArray dst)
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{
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UMat xmap, ymap;
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Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
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remap(src, dst, xmap, ymap, interp_mode, border_mode);
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return dst_roi.tl();
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}
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template <class P>
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void RotationWarperBase<P>::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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Size dst_size, OutputArray dst)
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{
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projector_.setCameraParams(K, R);
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Point src_tl, src_br;
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detectResultRoi(dst_size, src_tl, src_br);
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Size size = src.size();
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CV_Assert(src_br.x - src_tl.x + 1 == size.width && src_br.y - src_tl.y + 1 == size.height);
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Mat xmap(dst_size, CV_32F);
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Mat ymap(dst_size, CV_32F);
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float u, v;
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for (int y = 0; y < dst_size.height; ++y)
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{
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for (int x = 0; x < dst_size.width; ++x)
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{
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projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
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xmap.at<float>(y, x) = u - src_tl.x;
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ymap.at<float>(y, x) = v - src_tl.y;
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}
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}
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dst.create(dst_size, src.type());
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remap(src, dst, xmap, ymap, interp_mode, border_mode);
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}
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template <class P>
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Rect RotationWarperBase<P>::warpRoi(Size src_size, InputArray K, InputArray R)
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{
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projector_.setCameraParams(K, R);
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Point dst_tl, dst_br;
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detectResultRoi(src_size, dst_tl, dst_br);
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return Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1));
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}
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template <class P>
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void RotationWarperBase<P>::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
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{
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float tl_uf = std::numeric_limits<float>::max();
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float tl_vf = std::numeric_limits<float>::max();
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float br_uf = -std::numeric_limits<float>::max();
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float br_vf = -std::numeric_limits<float>::max();
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float u, v;
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for (int y = 0; y < src_size.height; ++y)
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{
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for (int x = 0; x < src_size.width; ++x)
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{
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projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
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tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
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br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
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}
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}
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dst_tl.x = static_cast<int>(tl_uf);
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dst_tl.y = static_cast<int>(tl_vf);
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dst_br.x = static_cast<int>(br_uf);
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dst_br.y = static_cast<int>(br_vf);
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}
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template <class P>
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void RotationWarperBase<P>::detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br)
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{
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float tl_uf = std::numeric_limits<float>::max();
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float tl_vf = std::numeric_limits<float>::max();
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float br_uf = -std::numeric_limits<float>::max();
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float br_vf = -std::numeric_limits<float>::max();
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float u, v;
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for (float x = 0; x < src_size.width; ++x)
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{
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projector_.mapForward(static_cast<float>(x), 0, u, v);
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tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
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br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
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projector_.mapForward(static_cast<float>(x), static_cast<float>(src_size.height - 1), u, v);
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tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
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br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
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}
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for (int y = 0; y < src_size.height; ++y)
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{
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projector_.mapForward(0, static_cast<float>(y), u, v);
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tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
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br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
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projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(y), u, v);
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tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
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br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
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}
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dst_tl.x = static_cast<int>(tl_uf);
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dst_tl.y = static_cast<int>(tl_vf);
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dst_br.x = static_cast<int>(br_uf);
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dst_br.y = static_cast<int>(br_vf);
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}
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inline
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void PlaneProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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x_ = t[0] + x_ / z_ * (1 - t[2]);
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y_ = t[1] + y_ / z_ * (1 - t[2]);
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u = scale * x_;
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v = scale * y_;
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}
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inline
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void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u = u / scale - t[0];
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v = v / scale - t[1];
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float z;
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x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2] * (1 - t[2]);
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y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5] * (1 - t[2]);
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z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8] * (1 - t[2]);
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x /= z;
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y /= z;
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}
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inline
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void SphericalProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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u = scale * atan2f(x_, z_);
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float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);
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v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));
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}
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inline
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void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u /= scale;
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v /= scale;
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float sinv = sinf(static_cast<float>(CV_PI) - v);
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float x_ = sinv * sinf(u);
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float y_ = cosf(static_cast<float>(CV_PI) - v);
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float z_ = sinv * cosf(u);
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float z;
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x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
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y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
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z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
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if (z > 0) { x /= z; y /= z; }
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else x = y = -1;
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}
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inline
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void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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u = scale * atan2f(x_, z_);
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v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
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}
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inline
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void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u /= scale;
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v /= scale;
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float x_ = sinf(u);
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float y_ = v;
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float z_ = cosf(u);
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float z;
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x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
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y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
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z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
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if (z > 0) { x /= z; y /= z; }
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else x = y = -1;
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}
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inline
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void FisheyeProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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float u_ = atan2f(x_, z_);
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float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
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u = scale * v_ * cosf(u_);
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v = scale * v_ * sinf(u_);
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}
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inline
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void FisheyeProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u /= scale;
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v /= scale;
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float u_ = atan2f(v, u);
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float v_ = sqrtf(u*u + v*v);
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float sinv = sinf((float)CV_PI - v_);
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float x_ = sinv * sinf(u_);
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float y_ = cosf((float)CV_PI - v_);
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float z_ = sinv * cosf(u_);
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float z;
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x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
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y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
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z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
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if (z > 0) { x /= z; y /= z; }
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else x = y = -1;
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}
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inline
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void StereographicProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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float u_ = atan2f(x_, z_);
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float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
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float r = sinf(v_) / (1 - cosf(v_));
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u = scale * r * cos(u_);
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v = scale * r * sin(u_);
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}
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inline
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void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u /= scale;
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v /= scale;
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float u_ = atan2f(v, u);
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float r = sqrtf(u*u + v*v);
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float v_ = 2 * atanf(1.f / r);
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float sinv = sinf((float)CV_PI - v_);
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float x_ = sinv * sinf(u_);
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float y_ = cosf((float)CV_PI - v_);
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float z_ = sinv * cosf(u_);
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float z;
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x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
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y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
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z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
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if (z > 0) { x /= z; y /= z; }
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else x = y = -1;
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}
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inline
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void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)
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{
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float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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float u_ = atan2f(x_, z_);
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float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
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u = scale * a * tanf(u_ / a);
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v = scale * b * tanf(v_) / cosf(u_);
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}
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inline
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void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, float &y)
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{
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u /= scale;
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v /= scale;
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float aatg = a * atanf(u / a);
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float u_ = aatg;
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float v_ = atanf(v * cosf(aatg) / b);
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float cosv = cosf(v_);
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float x_ = cosv * sinf(u_);
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float y_ = sinf(v_);
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float z_ = cosv * cosf(u_);
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float z;
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x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
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y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
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z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
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if (z > 0) { x /= z; y /= z; }
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else x = y = -1;
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}
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inline
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void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)
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{
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float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
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float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
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float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
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float u_ = atan2f(x_, z_);
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|
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
|
|
|
|
u = - scale * a * tanf(u_ / a);
|
|
v = scale * b * tanf(v_) / cosf(u_);
|
|
}
|
|
|
|
inline
|
|
void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float &x, float &y)
|
|
{
|
|
u /= - scale;
|
|
v /= scale;
|
|
|
|
float aatg = a * atanf(u / a);
|
|
float u_ = aatg;
|
|
float v_ = atanf(v * cosf( aatg ) / b);
|
|
|
|
float cosv = cosf(v_);
|
|
float y_ = cosv * sinf(u_);
|
|
float x_ = sinf(v_);
|
|
float z_ = cosv * cosf(u_);
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void PaniniProjector::mapForward(float x, float y, float &u, float &v)
|
|
{
|
|
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float u_ = atan2f(x_, z_);
|
|
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
|
|
|
|
float tg = a * tanf(u_ / a);
|
|
u = scale * tg;
|
|
|
|
float sinu = sinf(u_);
|
|
if ( fabs(sinu) < 1E-7 )
|
|
v = scale * b * tanf(v_);
|
|
else
|
|
v = scale * b * tg * tanf(v_) / sinu;
|
|
}
|
|
|
|
inline
|
|
void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
|
|
{
|
|
u /= scale;
|
|
v /= scale;
|
|
|
|
float lamda = a * atanf(u / a);
|
|
float u_ = lamda;
|
|
|
|
float v_;
|
|
if ( fabs(lamda) > 1E-7)
|
|
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));
|
|
else
|
|
v_ = atanf(v / b);
|
|
|
|
float cosv = cosf(v_);
|
|
float x_ = cosv * sinf(u_);
|
|
float y_ = sinf(v_);
|
|
float z_ = cosv * cosf(u_);
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)
|
|
{
|
|
float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float u_ = atan2f(x_, z_);
|
|
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
|
|
|
|
float tg = a * tanf(u_ / a);
|
|
u = - scale * tg;
|
|
|
|
float sinu = sinf( u_ );
|
|
if ( fabs(sinu) < 1E-7 )
|
|
v = scale * b * tanf(v_);
|
|
else
|
|
v = scale * b * tg * tanf(v_) / sinu;
|
|
}
|
|
|
|
inline
|
|
void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
|
|
{
|
|
u /= - scale;
|
|
v /= scale;
|
|
|
|
float lamda = a * atanf(u / a);
|
|
float u_ = lamda;
|
|
|
|
float v_;
|
|
if ( fabs(lamda) > 1E-7)
|
|
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));
|
|
else
|
|
v_ = atanf(v / b);
|
|
|
|
float cosv = cosf(v_);
|
|
float y_ = cosv * sinf(u_);
|
|
float x_ = sinf(v_);
|
|
float z_ = cosv * cosf(u_);
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void MercatorProjector::mapForward(float x, float y, float &u, float &v)
|
|
{
|
|
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float u_ = atan2f(x_, z_);
|
|
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
|
|
|
|
u = scale * u_;
|
|
v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );
|
|
}
|
|
|
|
inline
|
|
void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
|
|
{
|
|
u /= scale;
|
|
v /= scale;
|
|
|
|
float v_ = atanf( sinhf(v) );
|
|
float u_ = u;
|
|
|
|
float cosv = cosf(v_);
|
|
float x_ = cosv * sinf(u_);
|
|
float y_ = sinf(v_);
|
|
float z_ = cosv * cosf(u_);
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)
|
|
{
|
|
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float u_ = atan2f(x_, z_);
|
|
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));
|
|
|
|
float B = cosf(v_) * sinf(u_);
|
|
|
|
u = scale / 2 * logf( (1+B) / (1-B) );
|
|
v = scale * atan2f(tanf(v_), cosf(u_));
|
|
}
|
|
|
|
inline
|
|
void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float &y)
|
|
{
|
|
u /= scale;
|
|
v /= scale;
|
|
|
|
float v_ = asinf( sinf(v) / coshf(u) );
|
|
float u_ = atan2f( sinhf(u), cos(v) );
|
|
|
|
float cosv = cosf(v_);
|
|
float x_ = cosv * sinf(u_);
|
|
float y_ = sinf(v_);
|
|
float z_ = cosv * cosf(u_);
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
|
|
{
|
|
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float x_ = y0_;
|
|
float y_ = x0_;
|
|
float u, v;
|
|
|
|
u = scale * atan2f(x_, z_);
|
|
v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
|
|
|
|
u0 = -u;//v;
|
|
v0 = v;//u;
|
|
}
|
|
|
|
|
|
inline
|
|
void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
|
|
{
|
|
float u, v;
|
|
u = -u0;//v0;
|
|
v = v0;//u0;
|
|
|
|
u /= scale;
|
|
v /= scale;
|
|
|
|
float sinv = sinf(static_cast<float>(CV_PI) - v);
|
|
float x0_ = sinv * sinf(u);
|
|
float y0_ = cosf(static_cast<float>(CV_PI) - v);
|
|
float z_ = sinv * cosf(u);
|
|
|
|
float x_ = y0_;
|
|
float y_ = x0_;
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
|
|
{
|
|
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float x_ = y0_;
|
|
float y_ = x0_;
|
|
float u, v;
|
|
|
|
u = scale * atan2f(x_, z_);
|
|
v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
|
|
|
|
u0 = -u;//v;
|
|
v0 = v;//u;
|
|
}
|
|
|
|
|
|
inline
|
|
void CylindricalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
|
|
{
|
|
float u, v;
|
|
u = -u0;//v0;
|
|
v = v0;//u0;
|
|
|
|
u /= scale;
|
|
v /= scale;
|
|
|
|
float x0_ = sinf(u);
|
|
float y0_ = v;
|
|
float z_ = cosf(u);
|
|
|
|
float x_ = y0_;
|
|
float y_ = x0_;
|
|
|
|
float z;
|
|
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
|
|
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
|
|
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
|
|
|
|
if (z > 0) { x /= z; y /= z; }
|
|
else x = y = -1;
|
|
}
|
|
|
|
inline
|
|
void PlanePortraitProjector::mapForward(float x, float y, float &u0, float &v0)
|
|
{
|
|
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
|
|
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
|
|
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
|
|
|
|
float x_ = y0_;
|
|
float y_ = x0_;
|
|
|
|
x_ = t[0] + x_ / z_ * (1 - t[2]);
|
|
y_ = t[1] + y_ / z_ * (1 - t[2]);
|
|
|
|
float u,v;
|
|
u = scale * x_;
|
|
v = scale * y_;
|
|
|
|
u0 = -u;
|
|
v0 = v;
|
|
}
|
|
|
|
|
|
inline
|
|
void PlanePortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
|
|
{
|
|
float u, v;
|
|
u = -u0;
|
|
v = v0;
|
|
|
|
u = u / scale - t[0];
|
|
v = v / scale - t[1];
|
|
|
|
float z;
|
|
x = k_rinv[0] * v + k_rinv[1] * u + k_rinv[2] * (1 - t[2]);
|
|
y = k_rinv[3] * v + k_rinv[4] * u + k_rinv[5] * (1 - t[2]);
|
|
z = k_rinv[6] * v + k_rinv[7] * u + k_rinv[8] * (1 - t[2]);
|
|
|
|
x /= z;
|
|
y /= z;
|
|
}
|
|
|
|
|
|
} // namespace detail
|
|
} // namespace cv
|
|
|
|
//! @endcond
|
|
|
|
#endif // __OPENCV_STITCHING_WARPERS_INL_HPP__
|