Updated the stitching module docs
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Alexey Spizhevoy
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@ -154,7 +154,7 @@ detail::BundleAdjusterBase::setUpInitialCameraParams
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Sets initial camera parameter to refine.
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.. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
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.. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras)
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:param cameras: Camera parameters
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@ -163,7 +163,7 @@ detail::BundleAdjusterBase::calcError
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Calculates error vector.
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.. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err) = 0;
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.. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err)
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:param err: Error column-vector of length ``total_num_matches * num_errs_per_measurement``
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@ -172,7 +172,7 @@ detail::BundleAdjusterBase::calcJacobian
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Calculates the cost function jacobian.
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.. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac) = 0;
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.. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac)
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:param jac: Jacobian matrix of dimensions ``(total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam)``
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@ -181,7 +181,7 @@ detail::BundleAdjusterBase::obtainRefinedCameraParams
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Gets the refined camera parameters.
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.. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
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.. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const
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:param cameras: Refined camera parameters
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@ -200,7 +200,7 @@ Implementation of the camera parameters refinement algorithm which minimizes sum
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/* hidden */
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};
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.. seealso:: :ocv:class:`detail::BundleAdjusterBase`
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.. seealso:: :ocv:class:`detail::BundleAdjusterBase`, :ocv:class:`detail::Estimator`
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detail::BundleAdjusterRay
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-------------------------
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@ -7,7 +7,7 @@ detail::RotationWarper
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----------------------
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.. ocv:class:: detail::RotationWarper
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Rotation-only model image warpers interface. ::
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Rotation-only model image warper interface. ::
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class CV_EXPORTS RotationWarper
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{
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@ -27,6 +27,149 @@ Rotation-only model image warpers interface. ::
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virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
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};
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detail::RotationWarper::warpPoint
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---------------------------------
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Projects the image point.
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.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
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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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detail::RotationWarper::buildMaps
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---------------------------------
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Builds the projection maps according to the given camera data.
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.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
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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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detail::RotationWarper::warp
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----------------------------
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Projects the image.
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.. ocv:function:: Point detal::RotationWarper::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
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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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detail::RotationWarper::warpBackward
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------------------------------------
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Projects the image backward.
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.. ocv:function:: void detail::RotationWarper::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Size dst_size, Mat &dst)
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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_size: Backward-projected image
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detail::RotationWarper::warpRoi
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-------------------------------
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.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, const Mat &K, const Mat &R)
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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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detail::ProjectorBase
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---------------------
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.. ocv:struct:: detail::ProjectorBase
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Base class for warping logic implementation. ::
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struct CV_EXPORTS ProjectorBase
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{
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void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
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const Mat &R = Mat::eye(3, 3, CV_32F),
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const Mat &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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detail::RotationWarperBase
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--------------------------
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.. ocv:class:: detail::RotationWarperBase
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Base class for rotation-based warper using a `detail::ProjectorBase`_ derived class. ::
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template <class P>
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class CV_EXPORTS RotationWarperBase : public RotationWarper
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{
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public:
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Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R);
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Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
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Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Mat &dst);
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void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Size dst_size, Mat &dst);
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Rect warpRoi(Size src_size, const Mat &K, const Mat &R);
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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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detail::PlaneWarper
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-------------------
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.. ocv:class:: detail::PlaneWarper
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