115 lines
3.9 KiB
C++
115 lines
3.9 KiB
C++
#include "warpers.hpp"
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
|
|
Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
|
|
{
|
|
if (type == PLANE)
|
|
return new PlaneWarper(focal);
|
|
if (type == CYLINDRICAL)
|
|
return new CylindricalWarper(focal);
|
|
if (type == SPHERICAL)
|
|
return new SphericalWarper(focal);
|
|
CV_Error(CV_StsBadArg, "unsupported warping type");
|
|
return NULL;
|
|
}
|
|
|
|
|
|
void ProjectorBase::setCameraMatrix(const Mat &R)
|
|
{
|
|
CV_Assert(R.size() == Size(3, 3));
|
|
CV_Assert(R.type() == CV_32F);
|
|
r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
|
|
r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
|
|
r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
|
|
|
|
Mat Rinv = R.inv();
|
|
rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
|
|
rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
|
|
rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
|
|
}
|
|
|
|
|
|
Point Warper::operator ()(const Mat &src, float focal, const Mat& R, Mat &dst,
|
|
int interp_mode, int border_mode)
|
|
{
|
|
return warp(src, focal, R, dst, interp_mode, border_mode);
|
|
}
|
|
|
|
|
|
void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
|
{
|
|
float tl_uf = numeric_limits<float>::max();
|
|
float tl_vf = numeric_limits<float>::max();
|
|
float br_uf = -numeric_limits<float>::max();
|
|
float br_vf = -numeric_limits<float>::max();
|
|
|
|
float u, v;
|
|
|
|
projector_.mapForward(0, 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(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);
|
|
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);
|
|
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
|
|
br_uf = max(br_uf, u); br_vf = 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(Point &dst_tl, Point &dst_br)
|
|
{
|
|
detectResultRoiByBorder(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)
|
|
{
|
|
x = projector_.focal * x / z + src_size_.width * 0.5f;
|
|
y = projector_.focal * y / z + src_size_.height * 0.5f;
|
|
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));
|
|
}
|
|
}
|
|
|
|
x = projector_.rinv[1];
|
|
y = -projector_.rinv[4];
|
|
z = projector_.rinv[7];
|
|
if (y > 0.f)
|
|
{
|
|
x = projector_.focal * x / z + src_size_.width * 0.5f;
|
|
y = projector_.focal * y / z + src_size_.height * 0.5f;
|
|
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));
|
|
}
|
|
}
|
|
|
|
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);
|
|
}
|