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