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212 lines
8.3 KiB
C++
212 lines
8.3 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#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, bool try_gpu)
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{
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bool can_use_gpu = try_gpu && gpu::getCudaEnabledDeviceCount();
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if (type == PLANE)
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return !can_use_gpu ? new PlaneWarper(focal) : new PlaneWarperGpu(focal);
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if (type == CYLINDRICAL)
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return !can_use_gpu ? new CylindricalWarper(focal) : new CylindricalWarperGpu(focal);
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if (type == SPHERICAL)
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return !can_use_gpu ? new SphericalWarper(focal) : new SphericalWarperGpu(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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Point PlaneWarperGpu::warp(const Mat &src, float focal, const cv::Mat &R, cv::Mat &dst, int interp_mode, int border_mode)
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{
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src_size_ = src.size();
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projector_.size = src.size();
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projector_.focal = focal;
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projector_.setTransformation(R);
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cv::Point dst_tl, dst_br;
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detectResultRoi(dst_tl, dst_br);
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gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
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R, focal, projector_.scale, projector_.plane_dist, d_xmap_, d_ymap_);
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dst.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type());
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remap(src, dst, Mat(d_xmap_), Mat(d_ymap_), interp_mode, border_mode);
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return dst_tl;
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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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Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
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int interp_mode, int border_mode)
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{
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src_size_ = src.size();
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projector_.size = src.size();
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projector_.focal = focal;
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projector_.setTransformation(R);
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cv::Point dst_tl, dst_br;
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detectResultRoi(dst_tl, dst_br);
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gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
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R, focal, projector_.scale, d_xmap_, d_ymap_);
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dst.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type());
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remap(src, dst, Mat(d_xmap_), Mat(d_ymap_), interp_mode, border_mode);
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return dst_tl;
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}
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Point CylindricalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
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int interp_mode, int border_mode)
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{
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src_size_ = src.size();
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projector_.size = src.size();
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projector_.focal = focal;
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projector_.setTransformation(R);
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cv::Point dst_tl, dst_br;
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detectResultRoi(dst_tl, dst_br);
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gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
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R, focal, projector_.scale, d_xmap_, d_ymap_);
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dst.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type());
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remap(src, dst, Mat(d_xmap_), Mat(d_ymap_), interp_mode, border_mode);
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return dst_tl;
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}
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