mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 19:50:38 +08:00
263 lines
7.6 KiB
ReStructuredText
263 lines
7.6 KiB
ReStructuredText
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::PlaneWarper::PlaneWarper
|
|
--------------------------------
|
|
|
|
Construct an instance of the plane warper class.
|
|
|
|
.. ocv:function:: void detail::PlaneWarper::PlaneWarper(float scale = 1.f)
|
|
|
|
:param scale: Projected image scale multiplier
|
|
|
|
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::SphericalWarper::SphericalWarper
|
|
----------------------------------------
|
|
|
|
Construct an instance of the spherical warper class.
|
|
|
|
.. ocv:function:: void detail::SphericalWarper::SphericalWarper(float scale)
|
|
|
|
:param scale: Projected image scale multiplier
|
|
|
|
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`
|
|
|
|
detail::CylindricalWarper::CylindricalWarper
|
|
--------------------------------------------
|
|
|
|
Construct an instance of the cylindrical warper class.
|
|
|
|
.. ocv:function:: void detail::CylindricalWarper::CylindricalWarper(float scale)
|
|
|
|
:param scale: Projected image scale multiplier |