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