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opencv/modules/stitching/src/warpers.cpp
Andrey Kamaev 2a6fb2867e Remove all using directives for STL namespace and members 
Made all STL usages explicit to be able automatically find all usages of
particular class or function.
2013-02-25 15:04:17 +04:00

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
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// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
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//M*/
#include "precomp.hpp"
namespace cv {
namespace detail {
void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
{
CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
CV_Assert((T.size() == Size(1, 3) || T.size() == Size(3, 1)) && T.type() == CV_32F);
Mat_<float> K_(K);
k[0] = K_(0,0); k[1] = K_(0,1); k[2] = K_(0,2);
k[3] = K_(1,0); k[4] = K_(1,1); k[5] = K_(1,2);
k[6] = K_(2,0); k[7] = K_(2,1); k[8] = K_(2,2);
Mat_<float> Rinv = R.t();
rinv[0] = Rinv(0,0); rinv[1] = Rinv(0,1); rinv[2] = Rinv(0,2);
rinv[3] = Rinv(1,0); rinv[4] = Rinv(1,1); rinv[5] = Rinv(1,2);
rinv[6] = Rinv(2,0); rinv[7] = Rinv(2,1); rinv[8] = Rinv(2,2);
Mat_<float> R_Kinv = R * K.inv();
r_kinv[0] = R_Kinv(0,0); r_kinv[1] = R_Kinv(0,1); r_kinv[2] = R_Kinv(0,2);
r_kinv[3] = R_Kinv(1,0); r_kinv[4] = R_Kinv(1,1); r_kinv[5] = R_Kinv(1,2);
r_kinv[6] = R_Kinv(2,0); r_kinv[7] = R_Kinv(2,1); r_kinv[8] = R_Kinv(2,2);
Mat_<float> K_Rinv = K * Rinv;
k_rinv[0] = K_Rinv(0,0); k_rinv[1] = K_Rinv(0,1); k_rinv[2] = K_Rinv(0,2);
k_rinv[3] = K_Rinv(1,0); k_rinv[4] = K_Rinv(1,1); k_rinv[5] = K_Rinv(1,2);
k_rinv[6] = K_Rinv(2,0); k_rinv[7] = K_Rinv(2,1); k_rinv[8] = K_Rinv(2,2);
Mat_<float> T_(T.reshape(0, 3));
t[0] = T_(0,0); t[1] = T_(1,0); t[2] = T_(2,0);
}
Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T)
{
projector_.setCameraParams(K, R, T);
Point2f uv;
projector_.mapForward(pt.x, pt.y, uv.x, uv.y);
return uv;
}
Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
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)
{
for (int u = dst_tl.x; u <= dst_br.x; ++u)
{
projector_.mapBackward(static_cast<float>(u), static_cast<float>(v), x, y);
xmap.at<float>(v - dst_tl.y, u - dst_tl.x) = x;
ymap.at<float>(v - dst_tl.y, u - dst_tl.x) = y;
}
}
return Rect(dst_tl, dst_br);
}
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)
{
projector_.setCameraParams(K, R, T);
Point 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(Size src_size, Point &dst_tl, Point &dst_br)
{
float tl_uf = std::numeric_limits<float>::max();
float tl_vf = std::numeric_limits<float>::max();
float br_uf = -std::numeric_limits<float>::max();
float br_vf = -std::numeric_limits<float>::max();
float u, v;
projector_.mapForward(0, 0, u, v);
tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
projector_.mapForward(0, static_cast<float>(src_size.height - 1), u, v);
tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size.width - 1), 0, u, v);
tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(src_size.height - 1), u, v);
tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &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);
float br_uf = static_cast<float>(dst_br.x);
float br_vf = static_cast<float>(dst_br.y);
float x = projector_.rinv[1];
float y = projector_.rinv[4];
float z = projector_.rinv[7];
if (y > 0.f)
{
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)
{
tl_uf = std::min(tl_uf, 0.f); tl_vf = std::min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = std::max(br_uf, 0.f); br_vf = std::max(br_vf, static_cast<float>(CV_PI * projector_.scale));
}
}
x = projector_.rinv[1];
y = -projector_.rinv[4];
z = projector_.rinv[7];
if (y > 0.f)
{
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)
{
tl_uf = std::min(tl_uf, 0.f); tl_vf = std::min(tl_vf, static_cast<float>(0));
br_uf = std::max(br_uf, 0.f); br_vf = std::max(br_vf, static_cast<float>(0));
}
}
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
#ifdef HAVE_OPENCV_GPU
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
}
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R, T);
Point 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, T, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point 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, xmap, ymap);
return Rect(dst_tl, dst_br);
}
Point SphericalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point 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, xmap, ymap);
return Rect(dst_tl, dst_br);
}
Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
#endif
void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &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);
float br_uf = static_cast<float>(dst_br.x);
float br_vf = static_cast<float>(dst_br.y);
float x = projector_.rinv[0];
float y = projector_.rinv[3];
float z = projector_.rinv[6];
if (y > 0.f)
{
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)
{
tl_uf = std::min(tl_uf, 0.f); tl_vf = std::min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = std::max(br_uf, 0.f); br_vf = std::max(br_vf, static_cast<float>(CV_PI * projector_.scale));
}
}
x = projector_.rinv[0];
y = -projector_.rinv[3];
z = projector_.rinv[6];
if (y > 0.f)
{
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)
{
tl_uf = std::min(tl_uf, 0.f); tl_vf = std::min(tl_vf, static_cast<float>(0));
br_uf = std::max(br_uf, 0.f); br_vf = std::max(br_vf, static_cast<float>(0));
}
}
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
} // namespace detail
} // namespace cv
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