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Refactored warpers in the stitching module, added buildMaps function into the RotationWarper interface

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This commit is contained in:
Alexey Spizhevoy
2011-10-03 06:31:24 +00:00
parent b7a3d36729
commit 404e9cb9d5
6 changed files with 149 additions and 140 deletions
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76
modules/stitching/src/warpers.cpp
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@@ -78,17 +78,15 @@ void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
}
Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode)
Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
{
src_size_ = src.size();
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
detectResultRoi(src_size, dst_tl, dst_br);
Mat xmap(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
Mat ymap(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
float x, y;
for (int v = dst_tl.y; v <= dst_br.y; ++v)
@@ -101,26 +99,35 @@ Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T
}
}
dst.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type());
remap(src, dst, xmap, ymap, interp_mode, border_mode);
return dst_tl;
return Rect(dst_tl, dst_br);
}
Rect PlaneWarper::warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T)
Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
Mat xmap, ymap;
Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
remap(src, dst, xmap, ymap, interp_mode, border_mode);
return dst_roi.tl();
}
Rect PlaneWarper::warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T)
{
src_size_ = sz;
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
detectResultRoi(src_size, dst_tl, dst_br);
return Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1));
}
void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
void PlaneWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
float tl_uf = numeric_limits<float>::max();
float tl_vf = numeric_limits<float>::max();
@@ -133,15 +140,15 @@ void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(0, static_cast<float>(src_size_.height - 1), u, v);
projector_.mapForward(0, static_cast<float>(src_size.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), 0, u, v);
projector_.mapForward(static_cast<float>(src_size.width - 1), 0, u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), static_cast<float>(src_size_.height - 1), u, v);
projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(src_size.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
@@ -153,21 +160,20 @@ void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
#ifndef ANDROID
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode)
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), dst, interp_mode, border_mode);
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode)
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
src_size_ = src.size();
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
detectResultRoi(src.size(), dst_tl, dst_br);
gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
@@ -186,9 +192,9 @@ Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, const Mat
#endif
void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(dst_tl, dst_br);
detectResultRoiByBorder(src_size, dst_tl, dst_br);
float tl_uf = static_cast<float>(dst_tl.x);
float tl_vf = static_cast<float>(dst_tl.y);
@@ -202,7 +208,7 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
float y_ = projector_.k[4] * y / z + projector_.k[5];
if (x_ > 0.f && x_ < src_size_.width && y_ > 0.f && y_ < src_size_.height)
if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
@@ -216,7 +222,7 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
float y_ = projector_.k[4] * y / z + projector_.k[5];
if (x_ > 0.f && x_ < src_size_.width && y_ > 0.f && y_ < src_size_.height)
if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
@@ -231,14 +237,13 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
#ifndef ANDROID
Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode)
Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
src_size_ = src.size();
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
detectResultRoi(src.size(), dst_tl, dst_br);
gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
@@ -256,14 +261,13 @@ Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &
}
Point CylindricalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode)
Point CylindricalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
src_size_ = src.size();
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
detectResultRoi(src.size(), dst_tl, dst_br);
gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);