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Added spherical and cylindrical warpers, which work in the portrait mode -- when poles are located NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.

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This commit is contained in:
Leonid Beynenson 2012-02-22 15:44:39 +00:00
parent eec70a7793
commit b8eeb019db
3 changed files with 173 additions and 0 deletions
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39
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@ -304,6 +304,45 @@ private:
};
#endif
struct SphericalPortraitProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
// Projects image onto unit sphere with origin at (0, 0, 0).
// Poles are located NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.
class SphericalPortraitWarper : public RotationWarperBase<SphericalPortraitProjector>
{
public:
SphericalPortraitWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
struct CylindricalPortraitProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
};
class CylindricalPortraitWarper : public RotationWarperBase<CylindricalPortraitProjector>
{
public:
CylindricalPortraitWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<CylindricalPortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
} // namespace detail
} // namespace cv

91
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@ -298,6 +298,97 @@ void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
else x = y = -1;
}
inline
void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float x_ = y0_;
float y_ = x0_;
float u, v;
u = scale * atan2f(x_, z_);
v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
u0 = -u;//v;
v0 = v;//u;
}
inline
void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
{
float u, v;
u = -u0;//v0;
v = v0;//u0;
u /= scale;
v /= scale;
float sinv = sinf(static_cast<float>(CV_PI) - v);
float x0_ = sinv * sinf(u);
float y0_ = cosf(static_cast<float>(CV_PI) - v);
float z_ = sinv * cosf(u);
float x_ = y0_;
float y_ = x0_;
float z;
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
if (z > 0) { x /= z; y /= z; }
else x = y = -1;
}
inline
void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float x_ = y0_;
float y_ = x0_;
float u, v;
u = scale * atan2f(x_, z_);
v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
u0 = -u;//v;
v0 = v;//u;
}
inline
void CylindricalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
{
float u, v;
u = -u0;//v0;
v = v0;//u0;
u /= scale;
v /= scale;
float x0_ = sinf(u);
float y0_ = v;
float z_ = cosf(u);
float x_ = y0_;
float y_ = x0_;
float z;
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
if (z > 0) { x /= z; y /= z; }
else x = y = -1;
}
} // namespace detail
} // namespace cv

43
modules/stitching/src/warpers.cpp
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@ -296,5 +296,48 @@ Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat
}
#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 = 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[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 = 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);
}
} // namespace detail
} // namespace cv