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submodule
opencv
Commits
0ceb9b6a
Commit
0ceb9b6a
authored
Aug 08, 2012
by
Andrey Kamaev
Browse files
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Plain Diff
Fixed division by zero case in SphericalProjector::mapForward
parent
017abbd9
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Showing
1 changed file
with
25 additions
and
24 deletions
+25
-24
warpers_inl.hpp
...titching/include/opencv2/stitching/detail/warpers_inl.hpp
+25
-24
No files found.
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
View file @
0ceb9b6a
...
@@ -88,9 +88,9 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
...
@@ -88,9 +88,9 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
template
<
class
P
>
template
<
class
P
>
Point
RotationWarperBase
<
P
>::
warp
(
const
Mat
&
src
,
const
Mat
&
K
,
const
Mat
&
R
,
int
interp_mode
,
int
border_mode
,
Point
RotationWarperBase
<
P
>::
warp
(
const
Mat
&
src
,
const
Mat
&
K
,
const
Mat
&
R
,
int
interp_mode
,
int
border_mode
,
Mat
&
dst
)
Mat
&
dst
)
{
{
Mat
xmap
,
ymap
;
Mat
xmap
,
ymap
;
Rect
dst_roi
=
buildMaps
(
src
.
size
(),
K
,
R
,
xmap
,
ymap
);
Rect
dst_roi
=
buildMaps
(
src
.
size
(),
K
,
R
,
xmap
,
ymap
);
dst
.
create
(
dst_roi
.
height
+
1
,
dst_roi
.
width
+
1
,
src
.
type
());
dst
.
create
(
dst_roi
.
height
+
1
,
dst_roi
.
width
+
1
,
src
.
type
());
remap
(
src
,
dst
,
xmap
,
ymap
,
interp_mode
,
border_mode
);
remap
(
src
,
dst
,
xmap
,
ymap
,
interp_mode
,
border_mode
);
...
@@ -236,13 +236,14 @@ void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -236,13 +236,14 @@ void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
inline
inline
void
SphericalProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
SphericalProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
y_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
u
=
scale
*
atan2f
(
x_
,
z_
);
u
=
scale
*
atan2f
(
x_
,
z_
);
v
=
scale
*
(
static_cast
<
float
>
(
CV_PI
)
-
acosf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
)));
float
w
=
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
);
v
=
scale
*
(
static_cast
<
float
>
(
CV_PI
)
-
acosf
(
w
==
w
?
w
:
0
));
}
}
...
@@ -346,7 +347,7 @@ void StereographicProjector::mapForward(float x, float y, float &u, float &v)
...
@@ -346,7 +347,7 @@ void StereographicProjector::mapForward(float x, float y, float &u, float &v)
float
v_
=
(
float
)
CV_PI
-
acosf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
v_
=
(
float
)
CV_PI
-
acosf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
r
=
sinf
(
v_
)
/
(
1
-
cosf
(
v_
));
float
r
=
sinf
(
v_
)
/
(
1
-
cosf
(
v_
));
u
=
scale
*
r
*
cos
(
u_
);
u
=
scale
*
r
*
cos
(
u_
);
v
=
scale
*
r
*
sin
(
u_
);
v
=
scale
*
r
*
sin
(
u_
);
}
}
...
@@ -377,7 +378,7 @@ void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -377,7 +378,7 @@ void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
inline
inline
void
CompressedRectilinearProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
CompressedRectilinearProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
y_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
...
@@ -415,7 +416,7 @@ void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, flo
...
@@ -415,7 +416,7 @@ void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, flo
inline
inline
void
CompressedRectilinearPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
CompressedRectilinearPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
y_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
x_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
...
@@ -453,17 +454,17 @@ void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float
...
@@ -453,17 +454,17 @@ void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float
inline
inline
void
PaniniProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
PaniniProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
y_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
float
u_
=
atan2f
(
x_
,
z_
);
float
u_
=
atan2f
(
x_
,
z_
);
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
tg
=
a
*
tanf
(
u_
/
a
);
float
tg
=
a
*
tanf
(
u_
/
a
);
u
=
scale
*
tg
;
u
=
scale
*
tg
;
float
sinu
=
sinf
(
u_
);
float
sinu
=
sinf
(
u_
);
if
(
fabs
(
sinu
)
<
1E-7
)
if
(
fabs
(
sinu
)
<
1E-7
)
v
=
scale
*
b
*
tanf
(
v_
);
v
=
scale
*
b
*
tanf
(
v_
);
...
@@ -479,11 +480,11 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -479,11 +480,11 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
float
lamda
=
a
*
atanf
(
u
/
a
);
float
lamda
=
a
*
atanf
(
u
/
a
);
float
u_
=
lamda
;
float
u_
=
lamda
;
float
v_
;
float
v_
;
if
(
fabs
(
lamda
)
>
1E-7
)
if
(
fabs
(
lamda
)
>
1E-7
)
v_
=
atanf
(
v
*
sinf
(
lamda
)
/
(
b
*
a
*
tanf
(
lamda
/
a
)));
v_
=
atanf
(
v
*
sinf
(
lamda
)
/
(
b
*
a
*
tanf
(
lamda
/
a
)));
else
else
v_
=
atanf
(
v
/
b
);
v_
=
atanf
(
v
/
b
);
float
cosv
=
cosf
(
v_
);
float
cosv
=
cosf
(
v_
);
...
@@ -502,17 +503,17 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -502,17 +503,17 @@ void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
inline
inline
void
PaniniPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
PaniniPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
y_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
x_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
float
u_
=
atan2f
(
x_
,
z_
);
float
u_
=
atan2f
(
x_
,
z_
);
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
tg
=
a
*
tanf
(
u_
/
a
);
float
tg
=
a
*
tanf
(
u_
/
a
);
u
=
-
scale
*
tg
;
u
=
-
scale
*
tg
;
float
sinu
=
sinf
(
u_
);
float
sinu
=
sinf
(
u_
);
if
(
fabs
(
sinu
)
<
1E-7
)
if
(
fabs
(
sinu
)
<
1E-7
)
v
=
scale
*
b
*
tanf
(
v_
);
v
=
scale
*
b
*
tanf
(
v_
);
...
@@ -528,11 +529,11 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -528,11 +529,11 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
float
lamda
=
a
*
atanf
(
u
/
a
);
float
lamda
=
a
*
atanf
(
u
/
a
);
float
u_
=
lamda
;
float
u_
=
lamda
;
float
v_
;
float
v_
;
if
(
fabs
(
lamda
)
>
1E-7
)
if
(
fabs
(
lamda
)
>
1E-7
)
v_
=
atanf
(
v
*
sinf
(
lamda
)
/
(
b
*
a
*
tanf
(
lamda
/
a
)));
v_
=
atanf
(
v
*
sinf
(
lamda
)
/
(
b
*
a
*
tanf
(
lamda
/
a
)));
else
else
v_
=
atanf
(
v
/
b
);
v_
=
atanf
(
v
/
b
);
float
cosv
=
cosf
(
v_
);
float
cosv
=
cosf
(
v_
);
...
@@ -551,14 +552,14 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -551,14 +552,14 @@ void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
inline
inline
void
MercatorProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
MercatorProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
y_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
float
u_
=
atan2f
(
x_
,
z_
);
float
u_
=
atan2f
(
x_
,
z_
);
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
u
=
scale
*
u_
;
u
=
scale
*
u_
;
v
=
scale
*
logf
(
tanf
(
(
float
)(
CV_PI
/
4
)
+
v_
/
2
)
);
v
=
scale
*
logf
(
tanf
(
(
float
)(
CV_PI
/
4
)
+
v_
/
2
)
);
}
}
...
@@ -588,16 +589,16 @@ void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
...
@@ -588,16 +589,16 @@ void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
inline
inline
void
TransverseMercatorProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
void
TransverseMercatorProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u
,
float
&
v
)
{
{
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
x_
=
r_kinv
[
0
]
*
x
+
r_kinv
[
1
]
*
y
+
r_kinv
[
2
];
float
y_
=
r_kinv
[
3
]
*
x
+
r_kinv
[
4
]
*
y
+
r_kinv
[
5
];
float
y_
=
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
float
u_
=
atan2f
(
x_
,
z_
);
float
u_
=
atan2f
(
x_
,
z_
);
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
v_
=
asinf
(
y_
/
sqrtf
(
x_
*
x_
+
y_
*
y_
+
z_
*
z_
));
float
B
=
cosf
(
v_
)
*
sinf
(
u_
);
float
B
=
cosf
(
v_
)
*
sinf
(
u_
);
u
=
scale
/
2
*
logf
(
(
1
+
B
)
/
(
1
-
B
)
);
u
=
scale
/
2
*
logf
(
(
1
+
B
)
/
(
1
-
B
)
);
v
=
scale
*
atan2f
(
tanf
(
v_
),
cosf
(
u_
));
v
=
scale
*
atan2f
(
tanf
(
v_
),
cosf
(
u_
));
}
}
...
@@ -627,7 +628,7 @@ void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float
...
@@ -627,7 +628,7 @@ void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float
inline
inline
void
SphericalPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u0
,
float
&
v0
)
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
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
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
...
@@ -673,7 +674,7 @@ void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float
...
@@ -673,7 +674,7 @@ void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float
inline
inline
void
CylindricalPortraitProjector
::
mapForward
(
float
x
,
float
y
,
float
&
u0
,
float
&
v0
)
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
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
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
z_
=
r_kinv
[
6
]
*
x
+
r_kinv
[
7
]
*
y
+
r_kinv
[
8
];
...
...
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