Updated the stitching module docs

modules/stitching/doc/motion_estimation.rst

@@ -154,7 +154,7 @@ detail::BundleAdjusterBase::setUpInitialCameraParams
 
 Sets initial camera parameter to refine.
 
-.. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
+.. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras)
 
     :param cameras: Camera parameters
 
@@ -163,7 +163,7 @@ detail::BundleAdjusterBase::calcError
 
 Calculates error vector.
 
-.. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err) = 0;
+.. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err)
 
     :param err: Error column-vector of length ``total_num_matches * num_errs_per_measurement``
 
@@ -172,7 +172,7 @@ detail::BundleAdjusterBase::calcJacobian
 
 Calculates the cost function jacobian.
 
-.. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac) = 0;
+.. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac)
 
     :param jac: Jacobian matrix of dimensions ``(total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam)``
 
@@ -181,7 +181,7 @@ detail::BundleAdjusterBase::obtainRefinedCameraParams
 
 Gets the refined camera parameters.
 
-.. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
+.. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const
 
     :param cameras: Refined camera parameters
 
@@ -200,7 +200,7 @@ Implementation of the camera parameters refinement algorithm which minimizes sum
         /* hidden */
     };
 
-.. seealso:: :ocv:class:`detail::BundleAdjusterBase`
+.. seealso:: :ocv:class:`detail::BundleAdjusterBase`, :ocv:class:`detail::Estimator`
 
 detail::BundleAdjusterRay
 -------------------------

modules/stitching/doc/warpers.rst

@@ -7,7 +7,7 @@ detail::RotationWarper
 ----------------------
 .. ocv:class:: detail::RotationWarper
 
-Rotation-only model image warpers interface. ::
+Rotation-only model image warper interface. ::
 
     class CV_EXPORTS RotationWarper
     {
@@ -27,6 +27,149 @@ Rotation-only model image warpers interface. ::
         virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
     };
 
+detail::RotationWarper::warpPoint
+---------------------------------
+
+Projects the image point.
+
+.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
+
+    :param pt: Source point
+    
+    :param K: Camera intrinsic parameters
+
+    :param R: Camera rotation matrix
+
+    :return: Projected point
+
+detail::RotationWarper::buildMaps
+---------------------------------
+
+Builds the projection maps according to the given camera data.
+
+.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
+
+    :param src_size: Source image size
+    
+    :param K: Camera intrinsic parameters
+
+    :param R: Camera rotation matrix
+
+    :param xmap: Projection map for the x axis
+
+    :param ymap: Projection map for the y axis
+
+    :return: Projected image minimum bounding box
+
+detail::RotationWarper::warp
+----------------------------
+
+Projects the image.
+
+.. ocv:function:: Point detal::RotationWarper::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
+
+    :param src: Source image
+    
+    :param K: Camera intrinsic parameters
+
+    :param R: Camera rotation matrix
+
+    :param interp_mode: Interpolation mode
+
+    :param border_mode: Border extrapolation mode
+
+    :param dst: Projected image
+
+    :return: Project image top-left corner
+
+detail::RotationWarper::warpBackward
+------------------------------------
+
+Projects the image backward.
+
+.. 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)
+
+    :param src: Projected image
+
+    :param K: Camera intrinsic parameters
+
+    :param R: Camera rotation matrix
+
+    :param interp_mode: Interpolation mode
+
+    :param border_mode: Border extrapolation mode
+
+    :param dst_size: Backward-projected image size
+
+    :param dst_size: Backward-projected image
+
+detail::RotationWarper::warpRoi
+-------------------------------
+
+.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, const Mat &K, const Mat &R)
+
+    :param src_size: Source image bounding box
+    
+    :param K: Camera intrinsic parameters
+
+    :param R: Camera rotation matrix
+
+    :return: Projected image minimum bounding box
+
+detail::ProjectorBase
+---------------------
+.. ocv:struct:: detail::ProjectorBase
+
+Base class for warping logic implementation. ::
+
+    struct CV_EXPORTS ProjectorBase
+    {
+        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];
+    };
+
+detail::RotationWarperBase
+--------------------------
+.. ocv:class:: detail::RotationWarperBase
+
+Base class for rotation-based warper using a `detail::ProjectorBase`_ derived class. ::
+
+    template <class P>
+    class CV_EXPORTS RotationWarperBase : public RotationWarper
+    {   
+    public:
+        Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R);
+        
+        Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
+
+        Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
+                Mat &dst);
+
+        void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
+                        Size dst_size, Mat &dst);
+
+        Rect warpRoi(Size src_size, const Mat &K, const Mat &R);
+
+    protected:
+
+        // Detects ROI of the destination image. It's correct for any projection.
+        virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+
+        // Detects ROI of the destination image by walking over image border.
+        // Correctness for any projection isn't guaranteed.
+        void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
+
+        P projector_;
+    };
+
 detail::PlaneWarper
 -------------------
 .. ocv:class:: detail::PlaneWarper