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Added translation parameter into stitching module warpers. For now only PlaneWarper and PlaneWarperGpu warpers support it.

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This commit is contained in:
Alexey Spizhevoy
2011-09-21 10:53:23 +00:00
parent 0aaaad1ea8
commit 4a5abc7552
5 changed files with 110 additions and 24 deletions
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26
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@@ -57,20 +57,26 @@ class CV_EXPORTS Warper
public:
virtual ~Warper() {}
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;
int interp_mode, int border_mode) = 0;
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode) = 0;
virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R) = 0;
virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T) = 0;
};
struct CV_EXPORTS ProjectorBase
{
void setCameraParams(const Mat &K, const Mat &R);
void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
const Mat &R = Mat::eye(3, 3, CV_32F),
const Mat &T = Mat::zeros(3, 1, CV_32F));
float scale;
float k[9];
float rinv[9];
float r_kinv[9];
float k_rinv[9];
float t[3];
};
@@ -78,10 +84,12 @@ template <class P>
class CV_EXPORTS WarperBase : public Warper
{
public:
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R);
Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode);
Rect warpRoi(const Size &sz, const Mat &K, const Mat &R);
Rect warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T);
protected:
// Detects ROI of the destination image. It's correct for any projection.
@@ -108,6 +116,10 @@ class CV_EXPORTS PlaneWarper : public WarperBase<PlaneProjector>
{
public:
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
void setScale(float scale) { projector_.scale = scale; }
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode);
Rect warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T);
protected:
void detectResultRoi(Point &dst_tl, Point &dst_br);
@@ -120,6 +132,8 @@ public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, Mat &dst,
int interp_mode, int border_mode);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;

34
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@@ -80,6 +80,15 @@ Point WarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
}
template <class P>
Point WarperBase<P>::warp(const Mat &/*src*/, const Mat &/*K*/, const Mat &/*R*/, const Mat &/*T*/, Mat &/*dst*/,
int /*interp_mode*/, int /*border_mode*/)
{
CV_Error(CV_StsNotImplemented, "translation support isn't implemented");
return Point();
}
template <class P>
Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R)
{
@@ -93,6 +102,14 @@ Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R)
}
template <class P>
Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T)
{
CV_Error(CV_StsNotImplemented, "translation support isn't implemented");
return Rect();
}
template <class P>
void WarperBase<P>::detectResultRoi(Point &dst_tl, Point &dst_br)
{
@@ -163,21 +180,24 @@ void PlaneProjector::mapForward(float x, float y, float &u, float &v)
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];
u = scale * x_ / z_;
v = scale * y_ / z_;
x_ = t[0] + x_ / z_ * (1 - t[2]);
y_ = t[1] + y_ / z_ * (1 - t[2]);
u = scale * x_;
v = scale * y_;
}
inline
void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
{
u /= scale;
v /= scale;
u = u / scale - t[0];
v = v / scale - t[1];
float z;
x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2];
y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5];
z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8];
x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2] * (1 - t[2]);
y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5] * (1 - t[2]);
z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8] * (1 - t[2]);
x /= z;
y /= z;