2011-05-04 13:09:42 +02:00
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#include "warpers.hpp"
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using namespace std;
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using namespace cv;
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2011-05-05 14:12:32 +02:00
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Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
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2011-05-04 13:09:42 +02:00
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{
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if (type == PLANE)
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return new PlaneWarper(focal);
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if (type == CYLINDRICAL)
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return new CylindricalWarper(focal);
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if (type == SPHERICAL)
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return new SphericalWarper(focal);
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CV_Error(CV_StsBadArg, "unsupported warping type");
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return NULL;
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}
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void ProjectorBase::setCameraMatrix(const Mat &M)
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{
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CV_Assert(M.size() == Size(3, 3));
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CV_Assert(M.type() == CV_32F);
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m[0] = M.at<float>(0, 0); m[1] = M.at<float>(0, 1); m[2] = M.at<float>(0, 2);
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m[3] = M.at<float>(1, 0); m[4] = M.at<float>(1, 1); m[5] = M.at<float>(1, 2);
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m[6] = M.at<float>(2, 0); m[7] = M.at<float>(2, 1); m[8] = M.at<float>(2, 2);
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Mat M_inv = M.inv();
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minv[0] = M_inv.at<float>(0, 0); minv[1] = M_inv.at<float>(0, 1); minv[2] = M_inv.at<float>(0, 2);
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minv[3] = M_inv.at<float>(1, 0); minv[4] = M_inv.at<float>(1, 1); minv[5] = M_inv.at<float>(1, 2);
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minv[6] = M_inv.at<float>(2, 0); minv[7] = M_inv.at<float>(2, 1); minv[8] = M_inv.at<float>(2, 2);
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}
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Point Warper::operator ()(const Mat &src, float focal, const Mat& M, Mat &dst,
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int interp_mode, int border_mode)
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{
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return warp(src, focal, M, dst, interp_mode, border_mode);
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}
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void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
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{
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float tl_uf = numeric_limits<float>::max();
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float tl_vf = numeric_limits<float>::max();
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float br_uf = -numeric_limits<float>::max();
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float br_vf = -numeric_limits<float>::max();
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float u, v;
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projector_.mapForward(0, 0, u, v);
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tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
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br_uf = max(br_uf, u); br_vf = max(br_vf, v);
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projector_.mapForward(0, static_cast<float>(src_size_.height - 1), u, v);
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tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
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br_uf = max(br_uf, u); br_vf = max(br_vf, v);
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projector_.mapForward(static_cast<float>(src_size_.width - 1), 0, u, v);
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tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
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br_uf = max(br_uf, u); br_vf = max(br_vf, v);
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projector_.mapForward(static_cast<float>(src_size_.width - 1), static_cast<float>(src_size_.height - 1), u, v);
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tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
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br_uf = max(br_uf, u); br_vf = max(br_vf, v);
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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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void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
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{
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detectResultRoiByBorder(dst_tl, dst_br);
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float tl_uf = static_cast<float>(dst_tl.x);
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float tl_vf = static_cast<float>(dst_tl.y);
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float br_uf = static_cast<float>(dst_br.x);
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float br_vf = static_cast<float>(dst_br.y);
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float x = projector_.minv[1];
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float y = projector_.minv[4];
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float z = projector_.minv[7];
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if (y > 0.f)
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{
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x = projector_.focal * x / z + src_size_.width * 0.5f;
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y = projector_.focal * y / z + src_size_.height * 0.5f;
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if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
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{
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tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
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br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
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}
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}
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x = projector_.minv[1];
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y = -projector_.minv[4];
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z = projector_.minv[7];
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if (y > 0.f)
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{
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x = projector_.focal * x / z + src_size_.width * 0.5f;
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y = projector_.focal * y / z + src_size_.height * 0.5f;
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if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
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{
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tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
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br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
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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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