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#ifndef __OPENCV_WARPERS_HPP__
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#define __OPENCV_WARPERS_HPP__
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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class Warper
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{
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public:
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enum { PLANE, CYLINDRICAL, SPHERICAL };
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static cv::Ptr<Warper> createByCameraFocal(float focal, int type);
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virtual ~Warper() {}
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cv::Point operator ()(const cv::Mat &src, float focal, const cv::Mat& R, cv::Mat &dst,
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int interp_mode = cv::INTER_LINEAR, int border_mode = cv::BORDER_REFLECT);
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protected:
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virtual cv::Point warp(const cv::Mat &src, float focal, const cv::Mat& R, cv::Mat &dst,
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int interp_mode, int border_mode) = 0;
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};
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struct ProjectorBase
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{
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void setCameraMatrix(const cv::Mat& R);
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cv::Size size;
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float focal;
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float r[9];
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float rinv[9];
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float scale;
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};
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template <class P>
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class WarperBase : public Warper
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{
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protected:
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cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &R, cv::Mat &dst,
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int interp_mode, int border_mode);
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// Detects ROI of the destination image. It's correct for any projection.
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virtual void detectResultRoi(cv::Point &dst_tl, cv::Point &dst_br);
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// Detects ROI of the destination image by walking over image border.
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// Correctness for any projection isn't guaranteed.
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void detectResultRoiByBorder(cv::Point &dst_tl, cv::Point &dst_br);
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cv::Size src_size_;
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P projector_;
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};
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struct PlaneProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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float plane_dist;
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};
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// Projects image onto z = plane_dist plane
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class PlaneWarper : public WarperBase<PlaneProjector>
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{
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public:
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PlaneWarper(float plane_dist = 1.f, float scale = 1.f)
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{
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projector_.plane_dist = plane_dist;
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projector_.scale = scale;
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}
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private:
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void detectResultRoi(cv::Point &dst_tl, cv::Point &dst_br);
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};
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struct SphericalProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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// Projects image onto unit sphere with origin at (0, 0, 0).
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// Poles are located at (0, -1, 0) and (0, 1, 0) points.
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class SphericalWarper : public WarperBase<SphericalProjector>
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{
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public:
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SphericalWarper(float scale = 300.f) { projector_.scale = scale; }
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private:
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void detectResultRoi(cv::Point &dst_tl, cv::Point &dst_br);
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};
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struct CylindricalProjector : ProjectorBase
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{
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void mapForward(float x, float y, float &u, float &v);
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void mapBackward(float u, float v, float &x, float &y);
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};
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// Projects image onto x * x + z * z = 1 cylinder
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class CylindricalWarper : public WarperBase<CylindricalProjector>
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{
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public:
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CylindricalWarper(float scale = 300.f) { projector_.scale = scale; }
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private:
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void detectResultRoi(cv::Point &dst_tl, cv::Point &dst_br)
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{
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WarperBase<CylindricalProjector>::detectResultRoiByBorder(dst_tl, dst_br);
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}
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};
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#include "warpers_inl.hpp"
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#endif // __OPENCV_WARPERS_HPP__
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