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683 lines
22 KiB
C++
683 lines
22 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_HPP
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#define OPENCV_STITCHING_WARPERS_HPP
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#include "opencv2/core.hpp"
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#include "opencv2/core/cuda.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/opencv_modules.hpp"
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namespace cv {
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namespace detail {
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//! @addtogroup stitching_warp
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//! @{
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/** @brief Rotation-only model image warper interface.
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*/
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class CV_EXPORTS RotationWarper
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{
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public:
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virtual ~RotationWarper() {}
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/** @brief Projects the image point.
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@param pt Source point
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@return Projected point
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*/
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virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
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/** @brief Projects the image point backward.
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@param pt Projected point
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@return Backward-projected point
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*/
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#if CV_VERSION_MAJOR == 4
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virtual Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R)
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{
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CV_UNUSED(pt); CV_UNUSED(K); CV_UNUSED(R);
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CV_Error(Error::StsNotImplemented, "");
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}
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#else
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virtual Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R) = 0;
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#endif
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/** @brief Builds the projection maps according to the given camera data.
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@param src_size Source image size
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@param xmap Projection map for the x axis
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@param ymap Projection map for the y axis
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@return Projected image minimum bounding box
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*/
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virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
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/** @brief Projects the image.
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@param src Source image
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@param interp_mode Interpolation mode
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@param border_mode Border extrapolation mode
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@param dst Projected image
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@return Project image top-left corner
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*/
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virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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CV_OUT OutputArray dst) = 0;
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/** @brief Projects the image backward.
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@param src Projected image
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@param interp_mode Interpolation mode
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@param border_mode Border extrapolation mode
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@param dst_size Backward-projected image size
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@param dst Backward-projected image
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*/
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virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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Size dst_size, CV_OUT OutputArray dst) = 0;
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/**
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@param src_size Source image bounding box
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@param K Camera intrinsic parameters
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@param R Camera rotation matrix
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@return Projected image minimum bounding box
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*/
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virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
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virtual float getScale() const { return 1.f; }
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virtual void setScale(float) {}
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};
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/** @brief Base class for warping logic implementation.
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*/
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struct CV_EXPORTS_W_SIMPLE ProjectorBase
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{
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void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
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InputArray R = Mat::eye(3, 3, CV_32F),
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InputArray T = Mat::zeros(3, 1, CV_32F));
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float scale;
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float k[9];
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float rinv[9];
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float r_kinv[9];
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float k_rinv[9];
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float t[3];
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};
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/** @brief Base class for rotation-based warper using a detail::ProjectorBase_ derived class.
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*/
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template <class P>
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class CV_EXPORTS_TEMPLATE RotationWarperBase : public RotationWarper
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{
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public:
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Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
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Point2f warpPointBackward(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
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Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) CV_OVERRIDE;
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Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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OutputArray dst) CV_OVERRIDE;
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void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
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Size dst_size, OutputArray dst) CV_OVERRIDE;
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Rect warpRoi(Size src_size, InputArray K, InputArray R) CV_OVERRIDE;
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float getScale() const CV_OVERRIDE{ return projector_.scale; }
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void setScale(float val) CV_OVERRIDE { projector_.scale = val; }
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protected:
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// Detects ROI of the destination image. It's correct for any projection.
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virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
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// Detects ROI of the destination image by walking over image border.
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// Correctness for any projection isn't guaranteed.
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void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
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P projector_;
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};
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struct CV_EXPORTS PlaneProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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/** @brief Warper that maps an image onto the z = 1 plane.
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*/
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class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
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{
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public:
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/** @brief Construct an instance of the plane warper class.
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@param scale Projected image scale multiplier
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*/
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PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
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Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
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Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
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Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R) CV_OVERRIDE;
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Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R, InputArray T);
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virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, CV_OUT OutputArray xmap, CV_OUT OutputArray ymap);
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Rect buildMaps(Size src_size, InputArray K, InputArray R, CV_OUT OutputArray xmap, CV_OUT OutputArray ymap) CV_OVERRIDE;
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Point warp(InputArray src, InputArray K, InputArray R,
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int interp_mode, int border_mode, CV_OUT OutputArray dst) CV_OVERRIDE;
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virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
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CV_OUT OutputArray dst);
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Rect warpRoi(Size src_size, InputArray K, InputArray R) CV_OVERRIDE;
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Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br) CV_OVERRIDE;
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};
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/** @brief Affine warper that uses rotations and translations
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Uses affine transformation in homogeneous coordinates to represent both rotation and
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translation in camera rotation matrix.
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*/
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class CV_EXPORTS AffineWarper : public PlaneWarper
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{
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public:
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/** @brief Construct an instance of the affine warper class.
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@param scale Projected image scale multiplier
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*/
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AffineWarper(float scale = 1.f) : PlaneWarper(scale) {}
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/** @brief Projects the image point.
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@param pt Source point
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@param K Camera intrinsic parameters
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@param H Camera extrinsic parameters
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@return Projected point
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*/
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Point2f warpPoint(const Point2f &pt, InputArray K, InputArray H) CV_OVERRIDE;
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/** @brief Projects the image point backward.
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@param pt Projected point
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@param K Camera intrinsic parameters
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@param H Camera extrinsic parameters
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@return Backward-projected point
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*/
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Point2f warpPointBackward(const Point2f &pt, InputArray K, InputArray H) CV_OVERRIDE;
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/** @brief Builds the projection maps according to the given camera data.
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@param src_size Source image size
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@param K Camera intrinsic parameters
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@param H Camera extrinsic parameters
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@param xmap Projection map for the x axis
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@param ymap Projection map for the y axis
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@return Projected image minimum bounding box
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*/
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Rect buildMaps(Size src_size, InputArray K, InputArray H, OutputArray xmap, OutputArray ymap) CV_OVERRIDE;
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/** @brief Projects the image.
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@param src Source image
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@param K Camera intrinsic parameters
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@param H Camera extrinsic parameters
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@param interp_mode Interpolation mode
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@param border_mode Border extrapolation mode
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@param dst Projected image
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@return Project image top-left corner
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*/
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Point warp(InputArray src, InputArray K, InputArray H,
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int interp_mode, int border_mode, OutputArray dst) CV_OVERRIDE;
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/**
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@param src_size Source image bounding box
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@param K Camera intrinsic parameters
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@param H Camera extrinsic parameters
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@return Projected image minimum bounding box
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*/
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Rect warpRoi(Size src_size, InputArray K, InputArray H) CV_OVERRIDE;
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protected:
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/** @brief Extracts rotation and translation matrices from matrix H representing
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affine transformation in homogeneous coordinates
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*/
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void getRTfromHomogeneous(InputArray H, Mat &R, Mat &T);
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};
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struct CV_EXPORTS_W_SIMPLE SphericalProjector : ProjectorBase
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{
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CV_WRAP void mapForward(float x, float y, float &u, float &v);
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CV_WRAP void mapBackward(float u, float v, float &x, float &y);
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};
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/** @brief Warper that maps an image onto the unit sphere located at the origin.
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Projects image onto unit sphere with origin at (0, 0, 0) and radius scale, measured in pixels.
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A 360 panorama would therefore have a resulting width of 2 * scale * PI pixels.
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Poles are located at (0, -1, 0) and (0, 1, 0) points.
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*/
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class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
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{
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public:
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/** @brief Construct an instance of the spherical warper class.
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@param scale Radius of the projected sphere, in pixels. An image spanning the
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whole sphere will have a width of 2 * scale * PI pixels.
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*/
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SphericalWarper(float scale) { projector_.scale = scale; }
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Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) CV_OVERRIDE;
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Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst) CV_OVERRIDE;
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br) CV_OVERRIDE;
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};
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struct CV_EXPORTS CylindricalProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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/** @brief Warper that maps an image onto the x\*x + z\*z = 1 cylinder.
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*/
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class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
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{
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public:
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/** @brief Construct an instance of the cylindrical warper class.
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@param scale Projected image scale multiplier
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*/
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CylindricalWarper(float scale) { projector_.scale = scale; }
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Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) CV_OVERRIDE;
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Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst) CV_OVERRIDE;
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br) CV_OVERRIDE
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{
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RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
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}
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};
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struct CV_EXPORTS FisheyeProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS FisheyeWarper : public RotationWarperBase<FisheyeProjector>
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{
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public:
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FisheyeWarper(float scale) { projector_.scale = scale; }
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};
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struct CV_EXPORTS StereographicProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS StereographicWarper : public RotationWarperBase<StereographicProjector>
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{
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public:
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StereographicWarper(float scale) { projector_.scale = scale; }
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};
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struct CV_EXPORTS CompressedRectilinearProjector : ProjectorBase
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{
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float a, b;
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS CompressedRectilinearWarper : public RotationWarperBase<CompressedRectilinearProjector>
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{
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public:
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CompressedRectilinearWarper(float scale, float A = 1, float B = 1)
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{
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projector_.a = A;
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projector_.b = B;
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projector_.scale = scale;
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}
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};
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struct CV_EXPORTS CompressedRectilinearPortraitProjector : ProjectorBase
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{
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float a, b;
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS CompressedRectilinearPortraitWarper : public RotationWarperBase<CompressedRectilinearPortraitProjector>
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{
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public:
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CompressedRectilinearPortraitWarper(float scale, float A = 1, float B = 1)
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{
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projector_.a = A;
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projector_.b = B;
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projector_.scale = scale;
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}
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};
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struct CV_EXPORTS PaniniProjector : ProjectorBase
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{
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float a, b;
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS PaniniWarper : public RotationWarperBase<PaniniProjector>
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{
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public:
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PaniniWarper(float scale, float A = 1, float B = 1)
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{
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projector_.a = A;
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projector_.b = B;
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projector_.scale = scale;
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}
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};
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struct CV_EXPORTS PaniniPortraitProjector : ProjectorBase
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{
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float a, b;
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS PaniniPortraitWarper : public RotationWarperBase<PaniniPortraitProjector>
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{
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public:
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PaniniPortraitWarper(float scale, float A = 1, float B = 1)
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{
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projector_.a = A;
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projector_.b = B;
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projector_.scale = scale;
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}
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};
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struct CV_EXPORTS MercatorProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS MercatorWarper : public RotationWarperBase<MercatorProjector>
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{
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public:
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MercatorWarper(float scale) { projector_.scale = scale; }
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};
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struct CV_EXPORTS TransverseMercatorProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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class CV_EXPORTS TransverseMercatorWarper : public RotationWarperBase<TransverseMercatorProjector>
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{
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public:
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TransverseMercatorWarper(float scale) { projector_.scale = scale; }
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};
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class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
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{
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public:
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PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
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Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) CV_OVERRIDE
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{
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Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
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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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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) CV_OVERRIDE
|
|
{
|
|
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_;
|
|
};
|
|
|
|
|
|
struct CV_EXPORTS 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) CV_OVERRIDE;
|
|
};
|
|
|
|
struct CV_EXPORTS 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) CV_OVERRIDE
|
|
{
|
|
RotationWarperBase<CylindricalPortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
|
|
}
|
|
};
|
|
|
|
struct CV_EXPORTS 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) CV_OVERRIDE
|
|
{
|
|
RotationWarperBase<PlanePortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
|
|
}
|
|
};
|
|
|
|
//! @} stitching_warp
|
|
|
|
} // namespace detail
|
|
} // namespace cv
|
|
|
|
#include "warpers_inl.hpp"
|
|
|
|
#endif // OPENCV_STITCHING_WARPERS_HPP
|