opencv/modules/stitching/doc/warpers.rst
2012-01-26 12:44:32 +00:00

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Images Warping
==============
.. highlight:: cpp
detail::RotationWarper
----------------------
.. ocv:class:: detail::RotationWarper
Rotation-only model image warper interface. ::
class CV_EXPORTS RotationWarper
{
public:
virtual ~RotationWarper() {}
virtual Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R) = 0;
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) = 0;
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst) = 0;
virtual void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Size dst_size, Mat &dst) = 0;
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
Warper that maps an image onto the z = 1 plane. ::
class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
{
public:
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
void setScale(float scale) { projector_.scale = scale; }
Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T);
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
.. seealso:: :ocv:class:`detail::RotationWarper`
detail::SphericalWarper
-----------------------
.. ocv:class:: detail::SphericalWarper
Warper that maps an image onto the unit sphere located at the origin. ::
class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
{
public:
SphericalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
.. seealso:: :ocv:class:`detail::RotationWarper`
detail::CylindricalWarper
-------------------------
.. ocv:class:: detail::CylindricalWarper
Warper that maps an image onto the x*x + z*z = 1 cylinder. ::
class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
{
public:
CylindricalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
.. seealso:: :ocv:class:`detail::RotationWarper`