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Commit 23636433 authored by Alexey Spizhevoy's avatar Alexey Spizhevoy
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Updated bundle adjustment in stitching module: 1) it minimizes reprojection… 

Updated bundle adjustment in stitching module: 1) it minimizes reprojection error now, 2) it minimizes error over focal, aspect, p.p.x, p.p.y parameters. Refactored and updated warpers.
parent aebd7ebb
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Showing with 298 additions and 286 deletions
modules/gpu/include/opencv2/gpu/gpu.hpp
View file @ 23636433
...@@ -645,15 +645,15 @@ namespace cv ...@@ -645,15 +645,15 @@ namespace cv
CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR, Stream& stream = Stream::Null()); CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR, Stream& stream = Stream::Null());
//! builds plane warping maps //! builds plane warping maps
CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, double dist, CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null()); GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null());
//! builds cylindrical warping maps //! builds cylindrical warping maps
CV_EXPORTS void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, CV_EXPORTS void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null()); GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null());
//! builds spherical warping maps //! builds spherical warping maps
CV_EXPORTS void buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, CV_EXPORTS void buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null()); GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null());
//! rotate 8bit single or four channel image //! rotate 8bit single or four channel image
......
modules/gpu/perf/perf_imgproc.cpp
View file @ 23636433
...@@ -366,7 +366,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpPlaneMaps, testing::Combine(testing::ValuesIn ...@@ -366,7 +366,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpPlaneMaps, testing::Combine(testing::ValuesIn
SIMPLE_TEST_CYCLE() SIMPLE_TEST_CYCLE()
{ {
buildWarpPlaneMaps(size, Rect(0, 0, size.width, size.height), Mat::ones(3, 3, CV_32FC1), 1.0, 1.0, 1.0, map_x, map_y); buildWarpPlaneMaps(size, Rect(0, 0, size.width, size.height), Mat::eye(3, 3, CV_32FC1),
Mat::ones(3, 3, CV_32FC1), 1.0, map_x, map_y);
} }
Mat map_x_host(map_x); Mat map_x_host(map_x);
...@@ -391,7 +392,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpCylindricalMaps, testing::Combine(testing::Va ...@@ -391,7 +392,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpCylindricalMaps, testing::Combine(testing::Va
SIMPLE_TEST_CYCLE() SIMPLE_TEST_CYCLE()
{ {
buildWarpCylindricalMaps(size, Rect(0, 0, size.width, size.height), Mat::ones(3, 3, CV_32FC1), 1.0, 1.0, map_x, map_y); buildWarpCylindricalMaps(size, Rect(0, 0, size.width, size.height), Mat::eye(3, 3, CV_32FC1),
Mat::ones(3, 3, CV_32FC1), 1.0, map_x, map_y);
} }
Mat map_x_host(map_x); Mat map_x_host(map_x);
...@@ -416,7 +418,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpSphericalMaps, testing::Combine(testing::Valu ...@@ -416,7 +418,8 @@ PERF_TEST_P(DevInfo_Size, buildWarpSphericalMaps, testing::Combine(testing::Valu
SIMPLE_TEST_CYCLE() SIMPLE_TEST_CYCLE()
{ {
buildWarpSphericalMaps(size, Rect(0, 0, size.width, size.height), Mat::ones(3, 3, CV_32FC1), 1.0, 1.0, map_x, map_y); buildWarpSphericalMaps(size, Rect(0, 0, size.width, size.height), Mat::eye(3, 3, CV_32FC1),
Mat::ones(3, 3, CV_32FC1), 1.0, map_x, map_y);
} }
Mat map_x_host(map_x); Mat map_x_host(map_x);
......
modules/gpu/src/cuda/imgproc.cu
View file @ 23636433
...@@ -787,14 +787,14 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -787,14 +787,14 @@ namespace cv { namespace gpu { namespace imgproc
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
// buildWarpMaps // buildWarpMaps
// TODO use intrinsics like __sinf and so on
namespace build_warp_maps namespace build_warp_maps
{ {
__constant__ float cr[9]; __constant__ float ck_rinv[9];
__constant__ float crinv[9]; __constant__ float cr_kinv[9];
__constant__ float cf, cs; __constant__ float cscale;
__constant__ float chalf_w, chalf_h;
__constant__ float cdist;
} }
...@@ -805,16 +805,16 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -805,16 +805,16 @@ namespace cv { namespace gpu { namespace imgproc
{ {
using namespace build_warp_maps; using namespace build_warp_maps;
float x_ = u / cs; float x_ = u / cscale;
float y_ = v / cs; float y_ = v / cscale;
float z; float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*cdist; x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2];
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*cdist; y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5];
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*cdist; z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8];
x = cf*x/z + chalf_w; x /= z;
y = cf*y/z + chalf_h; y /= z;
} }
}; };
...@@ -826,18 +826,18 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -826,18 +826,18 @@ namespace cv { namespace gpu { namespace imgproc
{ {
using namespace build_warp_maps; using namespace build_warp_maps;
u /= cs; u /= cscale;
float x_ = sinf(u); float x_ = sinf(u);
float y_ = v / cs; float y_ = v / cscale;
float z_ = cosf(u); float z_ = cosf(u);
float z; float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*z_; x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*z_; y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*z_; z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
x = cf*x/z + chalf_w; x /= z;
y = cf*y/z + chalf_h; y /= z;
} }
}; };
...@@ -849,8 +849,8 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -849,8 +849,8 @@ namespace cv { namespace gpu { namespace imgproc
{ {
using namespace build_warp_maps; using namespace build_warp_maps;
v /= cs; v /= cscale;
u /= cs; u /= cscale;
float sinv = sinf(v); float sinv = sinf(v);
float x_ = sinv * sinf(u); float x_ = sinv * sinf(u);
...@@ -858,12 +858,12 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -858,12 +858,12 @@ namespace cv { namespace gpu { namespace imgproc
float z_ = sinv * cosf(u); float z_ = sinv * cosf(u);
float z; float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*z_; x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*z_; y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*z_; z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
x = cf*x/z + chalf_w; x /= z;
y = cf*y/z + chalf_h; y /= z;
} }
}; };
...@@ -887,16 +887,12 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -887,16 +887,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, float dist, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream) cudaStream_t stream)
{ {
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cdist, &dist, sizeof(float)));
int cols = map_x.cols; int cols = map_x.cols;
int rows = map_x.rows; int rows = map_x.rows;
...@@ -912,15 +908,12 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -912,15 +908,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream) cudaStream_t stream)
{ {
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
int cols = map_x.cols; int cols = map_x.cols;
int rows = map_x.rows; int rows = map_x.rows;
...@@ -936,15 +929,12 @@ namespace cv { namespace gpu { namespace imgproc ...@@ -936,15 +929,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream) cudaStream_t stream)
{ {
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
int cols = map_x.cols; int cols = map_x.cols;
int rows = map_x.rows; int rows = map_x.rows;
......
modules/gpu/src/imgproc.cpp
View file @ 23636433
...@@ -56,9 +56,9 @@ void cv::gpu::resize(const GpuMat&, GpuMat&, Size, double, double, int, Stream&) ...@@ -56,9 +56,9 @@ void cv::gpu::resize(const GpuMat&, GpuMat&, Size, double, double, int, Stream&)
void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, int, int, int, const Scalar&, Stream&) { throw_nogpu(); } void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, int, int, int, const Scalar&, Stream&) { throw_nogpu(); }
void cv::gpu::warpAffine(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); } void cv::gpu::warpAffine(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); }
void cv::gpu::warpPerspective(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); } void cv::gpu::warpPerspective(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, double, double, double, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, double, double, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, double, double, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::rotate(const GpuMat&, GpuMat&, Size, double, double, double, int, Stream&) { throw_nogpu(); } void cv::gpu::rotate(const GpuMat&, GpuMat&, Size, double, double, double, int, Stream&) { throw_nogpu(); }
void cv::gpu::integral(const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::integral(const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::integralBuffered(const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::integralBuffered(const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
...@@ -584,22 +584,25 @@ void cv::gpu::warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size ...@@ -584,22 +584,25 @@ void cv::gpu::warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size
namespace cv { namespace gpu { namespace imgproc namespace cv { namespace gpu { namespace imgproc
{ {
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, float dist, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream); cudaStream_t stream);
}}} }}}
void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
double dist, GpuMat& map_x, GpuMat& map_y, Stream& stream) GpuMat& map_x, GpuMat& map_y, Stream& stream)
{ {
CV_Assert(R.size() == Size(3,3) && R.isContinuous() && R.type() == CV_32F); CV_Assert(K.size() == Size(3,3) && K.type() == CV_32F);
Mat Rinv = R.inv(); CV_Assert(R.size() == Size(3,3) && R.type() == CV_32F);
CV_Assert(Rinv.isContinuous());
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert(K_Rinv.isContinuous());
CV_Assert(R_Kinv.isContinuous());
map_x.create(dst_roi.size(), CV_32F); map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F); map_y.create(dst_roi.size(), CV_32F);
imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, R.ptr<float>(), Rinv.ptr<float>(), imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
static_cast<float>(f), static_cast<float>(s), static_cast<float>(dist), scale, StreamAccessor::getStream(stream));
0.5f*src_size.width, 0.5f*src_size.height, StreamAccessor::getStream(stream));
} }
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
...@@ -608,22 +611,25 @@ void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat& R, doub ...@@ -608,22 +611,25 @@ void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat& R, doub
namespace cv { namespace gpu { namespace imgproc namespace cv { namespace gpu { namespace imgproc
{ {
void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream); cudaStream_t stream);
}}} }}}
void cv::gpu::buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, void cv::gpu::buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream) GpuMat& map_x, GpuMat& map_y, Stream& stream)
{ {
CV_Assert(R.size() == Size(3,3) && R.isContinuous() && R.type() == CV_32F); CV_Assert(K.size() == Size(3,3) && K.type() == CV_32F);
Mat Rinv = R.inv(); CV_Assert(R.size() == Size(3,3) && R.type() == CV_32F);
CV_Assert(Rinv.isContinuous());
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert(K_Rinv.isContinuous());
CV_Assert(R_Kinv.isContinuous());
map_x.create(dst_roi.size(), CV_32F); map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F); map_y.create(dst_roi.size(), CV_32F);
imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, R.ptr<float>(), Rinv.ptr<float>(), imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
static_cast<float>(f), static_cast<float>(s), 0.5f*src_size.width, 0.5f*src_size.height, scale, StreamAccessor::getStream(stream));
StreamAccessor::getStream(stream));
} }
...@@ -633,22 +639,25 @@ void cv::gpu::buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat& R ...@@ -633,22 +639,25 @@ void cv::gpu::buildWarpCylindricalMaps(Size src_size, Rect dst_roi, const Mat& R
namespace cv { namespace gpu { namespace imgproc namespace cv { namespace gpu { namespace imgproc
{ {
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, const float k_rinv[9], const float r_kinv[9], float scale,
float half_w, float half_h, cudaStream_t stream); cudaStream_t stream);
}}} }}}
void cv::gpu::buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s, void cv::gpu::buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream) GpuMat& map_x, GpuMat& map_y, Stream& stream)
{ {
CV_Assert(R.size() == Size(3,3) && R.isContinuous() && R.type() == CV_32F); CV_Assert(K.size() == Size(3,3) && K.type() == CV_32F);
Mat Rinv = R.inv(); CV_Assert(R.size() == Size(3,3) && R.type() == CV_32F);
CV_Assert(Rinv.isContinuous());
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert(K_Rinv.isContinuous());
CV_Assert(R_Kinv.isContinuous());
map_x.create(dst_roi.size(), CV_32F); map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F); map_y.create(dst_roi.size(), CV_32F);
imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, R.ptr<float>(), Rinv.ptr<float>(), imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
static_cast<float>(f), static_cast<float>(s), 0.5f*src_size.width, 0.5f*src_size.height, scale, StreamAccessor::getStream(stream));
StreamAccessor::getStream(stream));
} }
//////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////
......
modules/stitching/include/opencv2/stitching/detail/camera.hpp
View file @ 23636433
...@@ -53,8 +53,12 @@ struct CV_EXPORTS CameraParams ...@@ -53,8 +53,12 @@ struct CV_EXPORTS CameraParams
CameraParams(); CameraParams();
CameraParams(const CameraParams& other); CameraParams(const CameraParams& other);
const CameraParams& operator =(const CameraParams& other); const CameraParams& operator =(const CameraParams& other);
Mat K() const;
double focal; // Focal length double focal; // Focal length
double aspect; // Aspect ratio
double ppx; // Principal point X
double ppy; // Principal point Y
Mat R; // Rotation Mat R; // Rotation
Mat t; // Translation Mat t; // Translation
}; };
......
modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
View file @ 23636433
...@@ -58,9 +58,7 @@ public: ...@@ -58,9 +58,7 @@ public:
void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras) std::vector<CameraParams> &cameras)
{ { estimate(features, pairwise_matches, cameras); }
estimate(features, pairwise_matches, cameras);
}
protected: protected:
virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
...@@ -90,6 +88,8 @@ public: ...@@ -90,6 +88,8 @@ public:
BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f) BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f)
: cost_space_(cost_space), conf_thresh_(conf_thresh) {} : cost_space_(cost_space), conf_thresh_(conf_thresh) {}
Mat K;
private: private:
void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras); std::vector<CameraParams> &cameras);
......
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
View file @ 23636433
...@@ -55,27 +55,22 @@ namespace detail { ...@@ -55,27 +55,22 @@ namespace detail {
class CV_EXPORTS Warper class CV_EXPORTS Warper
{ {
public: public:
enum { PLANE, CYLINDRICAL, SPHERICAL };
// TODO remove this method
static Ptr<Warper> createByCameraFocal(float focal, int type, bool try_gpu = false);
virtual ~Warper() {} virtual ~Warper() {}
virtual Point warp(const Mat &src, float focal, const Mat& R, Mat &dst, virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0; int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R) = 0; virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R) = 0;
}; };
struct CV_EXPORTS ProjectorBase struct CV_EXPORTS ProjectorBase
{ {
void setTransformation(const Mat& R); void setCameraParams(const Mat &K, const Mat &R);
Size size;
float focal;
float r[9];
float rinv[9];
float scale; float scale;
float k[9];
float rinv[9];
float r_kinv[9];
float k_rinv[9];
}; };
...@@ -83,10 +78,10 @@ template <class P> ...@@ -83,10 +78,10 @@ template <class P>
class CV_EXPORTS WarperBase : public Warper class CV_EXPORTS WarperBase : public Warper
{ {
public: public:
virtual Point warp(const Mat &src, float focal, const Mat &R, Mat &dst, virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode); int interp_mode, int border_mode);
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R); virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R);
protected: protected:
// Detects ROI of the destination image. It's correct for any projection. // Detects ROI of the destination image. It's correct for any projection.
...@@ -105,7 +100,6 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase ...@@ -105,7 +100,6 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase
{ {
void mapForward(float x, float y, float &u, float &v); void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y); void mapBackward(float u, float v, float &x, float &y);
float plane_dist;
}; };
...@@ -113,11 +107,7 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase ...@@ -113,11 +107,7 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase
class CV_EXPORTS PlaneWarper : public WarperBase<PlaneProjector> class CV_EXPORTS PlaneWarper : public WarperBase<PlaneProjector>
{ {
public: public:
PlaneWarper(float plane_dist = 1.f, float scale = 1.f) PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
{
projector_.plane_dist = plane_dist;
projector_.scale = scale;
}
protected: protected:
void detectResultRoi(Point &dst_tl, Point &dst_br); void detectResultRoi(Point &dst_tl, Point &dst_br);
...@@ -127,8 +117,8 @@ protected: ...@@ -127,8 +117,8 @@ protected:
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{ {
public: public:
PlaneWarperGpu(float plane_dist = 1.f, float scale = 1.f) : PlaneWarper(plane_dist, scale) {} PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode); int interp_mode, int border_mode);
private: private:
...@@ -149,7 +139,7 @@ struct CV_EXPORTS SphericalProjector : ProjectorBase ...@@ -149,7 +139,7 @@ struct CV_EXPORTS SphericalProjector : ProjectorBase
class CV_EXPORTS SphericalWarper : public WarperBase<SphericalProjector> class CV_EXPORTS SphericalWarper : public WarperBase<SphericalProjector>
{ {
public: public:
SphericalWarper(float scale = 300.f) { projector_.scale = scale; } SphericalWarper(float scale) { projector_.scale = scale; }
protected: protected:
void detectResultRoi(Point &dst_tl, Point &dst_br); void detectResultRoi(Point &dst_tl, Point &dst_br);
...@@ -160,8 +150,8 @@ protected: ...@@ -160,8 +150,8 @@ protected:
class CV_EXPORTS SphericalWarperGpu : public SphericalWarper class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
{ {
public: public:
SphericalWarperGpu(float scale = 300.f) : SphericalWarper(scale) {} SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode); int interp_mode, int border_mode);
private: private:
...@@ -181,13 +171,11 @@ struct CV_EXPORTS CylindricalProjector : ProjectorBase ...@@ -181,13 +171,11 @@ struct CV_EXPORTS CylindricalProjector : ProjectorBase
class CV_EXPORTS CylindricalWarper : public WarperBase<CylindricalProjector> class CV_EXPORTS CylindricalWarper : public WarperBase<CylindricalProjector>
{ {
public: public:
CylindricalWarper(float scale = 300.f) { projector_.scale = scale; } CylindricalWarper(float scale) { projector_.scale = scale; }
protected: protected:
void detectResultRoi(Point &dst_tl, Point &dst_br) void detectResultRoi(Point &dst_tl, Point &dst_br)
{ { WarperBase<CylindricalProjector>::detectResultRoiByBorder(dst_tl, dst_br); }
WarperBase<CylindricalProjector>::detectResultRoiByBorder(dst_tl, dst_br);
}
}; };
...@@ -195,8 +183,8 @@ protected: ...@@ -195,8 +183,8 @@ protected:
class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
{ {
public: public:
CylindricalWarperGpu(float scale = 300.f) : CylindricalWarper(scale) {} CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode); int interp_mode, int border_mode);
private: private:
......
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
View file @ 23636433
...@@ -50,14 +50,11 @@ namespace cv { ...@@ -50,14 +50,11 @@ namespace cv {
namespace detail { namespace detail {
template <class P> template <class P>
Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point WarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode) int interp_mode, int border_mode)
{ {
src_size_ = src.size(); src_size_ = src.size();
projector_.setCameraParams(K, R);
projector_.size = src.size();
projector_.focal = focal;
projector_.setTransformation(R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br); detectResultRoi(dst_tl, dst_br);
...@@ -84,13 +81,10 @@ Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst, ...@@ -84,13 +81,10 @@ Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
template <class P> template <class P>
Rect WarperBase<P>::warpRoi(const Size &sz, float focal, const Mat &R) Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R)
{ {
src_size_ = sz; src_size_ = sz;
projector_.setCameraParams(K, R);
projector_.size = sz;
projector_.focal = focal;
projector_.setTransformation(R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br); detectResultRoi(dst_tl, dst_br);
...@@ -165,43 +159,37 @@ void WarperBase<P>::detectResultRoiByBorder(Point &dst_tl, Point &dst_br) ...@@ -165,43 +159,37 @@ void WarperBase<P>::detectResultRoiByBorder(Point &dst_tl, Point &dst_br)
inline inline
void PlaneProjector::mapForward(float x, float y, float &u, float &v) void PlaneProjector::mapForward(float x, float y, float &u, float &v)
{ {
x -= size.width * 0.5f; float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
y -= size.height * 0.5f; 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 x_ = r[0] * x + r[1] * y + r[2] * focal; u = scale * x_ / z_;
float y_ = r[3] * x + r[4] * y + r[5] * focal; v = scale * y_ / z_;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
u = scale * x_ / z_ * plane_dist;
v = scale * y_ / z_ * plane_dist;
} }
inline inline
void PlaneProjector::mapBackward(float u, float v, float &x, float &y) void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
{ {
float x_ = u / scale; u /= scale;
float y_ = v / scale; v /= scale;
float z; float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * plane_dist; x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2];
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * plane_dist; y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5];
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * plane_dist; z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8];
x = focal * x / z + size.width * 0.5f; x /= z;
y = focal * y / z + size.height * 0.5f; y /= z;
} }
inline inline
void SphericalProjector::mapForward(float x, float y, float &u, float &v) void SphericalProjector::mapForward(float x, float y, float &u, float &v)
{ {
x -= size.width * 0.5f; float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
y -= size.height * 0.5f; 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 x_ = r[0] * x + r[1] * y + r[2] * focal;
float y_ = r[3] * x + r[4] * y + r[5] * focal;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
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_))); v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
...@@ -211,30 +199,30 @@ void SphericalProjector::mapForward(float x, float y, float &u, float &v) ...@@ -211,30 +199,30 @@ void SphericalProjector::mapForward(float x, float y, float &u, float &v)
inline inline
void SphericalProjector::mapBackward(float u, float v, float &x, float &y) void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
{ {
float sinv = sinf(static_cast<float>(CV_PI) - v / scale); u /= scale;
float x_ = sinv * sinf(u / scale); v /= scale;
float y_ = cosf(static_cast<float>(CV_PI) - v / scale);
float z_ = sinv * cosf(u / scale); float sinv = sinf(static_cast<float>(CV_PI) - v);
float x_ = sinv * sinf(u);
float y_ = cosf(static_cast<float>(CV_PI) - v);
float z_ = sinv * cosf(u);
float z; float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_; x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_; y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_; z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
x = focal * x / z + size.width * 0.5f; x /= z;
y = focal * y / z + size.height * 0.5f; y /= z;
} }
inline inline
void CylindricalProjector::mapForward(float x, float y, float &u, float &v) void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
{ {
x -= size.width * 0.5f; float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
y -= size.height * 0.5f; 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 x_ = r[0] * x + r[1] * y + r[2] * focal;
float y_ = r[3] * x + r[4] * y + r[5] * focal;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
u = scale * atan2f(x_, z_); u = scale * atan2f(x_, z_);
v = scale * y_ / sqrtf(x_ * x_ + z_ * z_); v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
...@@ -244,17 +232,20 @@ void CylindricalProjector::mapForward(float x, float y, float &u, float &v) ...@@ -244,17 +232,20 @@ void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
inline inline
void CylindricalProjector::mapBackward(float u, float v, float &x, float &y) void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
{ {
float x_ = sinf(u / scale); u /= scale;
float y_ = v / scale; v /= scale;
float z_ = cosf(u / scale);
float x_ = sinf(u);
float y_ = v;
float z_ = cosf(u);
float z; float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_; x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_; y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_; z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
x = focal * x / z + size.width * 0.5f; x /= z;
y = focal * y / z + size.height * 0.5f; y /= z;
} }
} // namespace detail } // namespace detail
......
modules/stitching/include/opencv2/stitching/warpers.hpp
View file @ 23636433
...@@ -51,28 +51,28 @@ class WarperCreator ...@@ -51,28 +51,28 @@ class WarperCreator
{ {
public: public:
virtual ~WarperCreator() {} virtual ~WarperCreator() {}
virtual Ptr<detail::Warper> createByFocalLength(double f) const = 0; virtual Ptr<detail::Warper> create(float scale) const = 0;
}; };
class PlaneWarper : public WarperCreator class PlaneWarper : public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarper(f); } Ptr<detail::Warper> create(float scale) const { return new detail::PlaneWarper(scale); }
}; };
class CylindricalWarper: public WarperCreator class CylindricalWarper: public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarper(f); } Ptr<detail::Warper> create(float scale) const { return new detail::CylindricalWarper(scale); }
}; };
class SphericalWarper: public WarperCreator class SphericalWarper: public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarper(f); } Ptr<detail::Warper> create(float scale) const { return new detail::SphericalWarper(scale); }
}; };
...@@ -80,21 +80,21 @@ public: ...@@ -80,21 +80,21 @@ public:
class PlaneWarperGpu: public WarperCreator class PlaneWarperGpu: public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarperGpu(f); } Ptr<detail::Warper> create(float scale) const { return new detail::PlaneWarperGpu(scale); }
}; };
class CylindricalWarperGpu: public WarperCreator class CylindricalWarperGpu: public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarperGpu(f); } Ptr<detail::Warper> create(float scale) const { return new detail::CylindricalWarperGpu(scale); }
}; };
class SphericalWarperGpu: public WarperCreator class SphericalWarperGpu: public WarperCreator
{ {
public: public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarperGpu(f); } Ptr<detail::Warper> create(float scale) const { return new detail::SphericalWarperGpu(scale); }
}; };
#endif #endif
......
modules/stitching/src/camera.cpp
View file @ 23636433
...@@ -47,17 +47,29 @@ using namespace std; ...@@ -47,17 +47,29 @@ using namespace std;
namespace cv { namespace cv {
namespace detail { namespace detail {
CameraParams::CameraParams() : focal(1), R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {} CameraParams::CameraParams() : focal(1), aspect(1), ppx(0), ppy(0),
R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {}
CameraParams::CameraParams(const CameraParams &other) { *this = other; } CameraParams::CameraParams(const CameraParams &other) { *this = other; }
const CameraParams& CameraParams::operator =(const CameraParams &other) const CameraParams& CameraParams::operator =(const CameraParams &other)
{ {
focal = other.focal; focal = other.focal;
ppx = other.ppx;
ppy = other.ppy;
aspect = other.aspect;
R = other.R.clone(); R = other.R.clone();
t = other.t.clone(); t = other.t.clone();
return *this; return *this;
} }
Mat CameraParams::K() const
{
Mat_<double> k = Mat::eye(3, 3, CV_64F);
k(0,0) = focal; k(0,2) = ppx;
k(1,1) = focal * aspect; k(1,2) = ppy;
return k;
}
} // namespace detail } // namespace detail
} // namespace cv } // namespace cv
modules/stitching/src/motion_estimators.cpp
View file @ 23636433
This diff is collapsed.
modules/stitching/src/stitcher.cpp
View file @ 23636433
...@@ -186,7 +186,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -186,7 +186,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
Mat R; Mat R;
cameras[i].R.convertTo(R, CV_32F); cameras[i].R.convertTo(R, CV_32F);
cameras[i].R = R; cameras[i].R = R;
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal); LOGLN("Initial intrinsic parameters #" << indices[i]+1 << ":\n " << cameras[i].K());
} }
detail::BundleAdjuster adjuster(detail::BundleAdjuster::FOCAL_RAY_SPACE, conf_thresh_); detail::BundleAdjuster adjuster(detail::BundleAdjuster::FOCAL_RAY_SPACE, conf_thresh_);
...@@ -196,7 +196,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -196,7 +196,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
vector<double> focals; vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i) for (size_t i = 0; i < cameras.size(); ++i)
{ {
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal); LOGLN("Camera #" << indices[i]+1 << ":\n" << cameras[i].K());
focals.push_back(cameras[i].focal); focals.push_back(cameras[i].focal);
} }
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end()); nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
...@@ -229,14 +229,18 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -229,14 +229,18 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
} }
// Warp images and their masks // Warp images and their masks
Ptr<detail::Warper> warper = warper_->createByFocalLength(warped_image_scale * seam_work_aspect); Ptr<detail::Warper> warper = warper_->create(warped_image_scale * seam_work_aspect);
for (int i = 0; i < num_imgs; ++i) for (int i = 0; i < num_imgs; ++i)
{ {
corners[i] = warper->warp(seam_est_imgs[i], static_cast<float>(cameras[i].focal * seam_work_aspect), Mat_<float> K;
cameras[i].R, images_warped[i]); cameras[i].K().convertTo(K, CV_32F);
K(0,0) *= seam_work_aspect; K(0,2) *= seam_work_aspect;
K(1,1) *= seam_work_aspect; K(1,2) *= seam_work_aspect;
corners[i] = warper->warp(seam_est_imgs[i], K, cameras[i].R, images_warped[i]);
sizes[i] = images_warped[i].size(); sizes[i] = images_warped[i].size();
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT); warper->warp(masks[i], K, cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
} }
vector<Mat> images_warped_f(num_imgs); vector<Mat> images_warped_f(num_imgs);
...@@ -281,13 +285,15 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -281,13 +285,15 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
// Update warped image scale // Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect); warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = warper_->createByFocalLength(warped_image_scale); warper = warper_->create(warped_image_scale);
// Update corners and sizes // Update corners and sizes
for (int i = 0; i < num_imgs; ++i) for (int i = 0; i < num_imgs; ++i)
{ {
// Update camera focal // Update intrinsics
cameras[i].focal *= compose_work_aspect; cameras[i].focal *= compose_work_aspect;
cameras[i].ppx *= compose_work_aspect;
cameras[i].ppy *= compose_work_aspect;
// Update corner and size // Update corner and size
Size sz = full_img_sizes[i]; Size sz = full_img_sizes[i];
...@@ -297,7 +303,9 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -297,7 +303,9 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
sz.height = cvRound(full_img_sizes[i].height * compose_scale); sz.height = cvRound(full_img_sizes[i].height * compose_scale);
} }
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R); Mat K;
cameras[i].K().convertTo(K, CV_32F);
Rect roi = warper->warpRoi(sz, K, cameras[i].R);
corners[i] = roi.tl(); corners[i] = roi.tl();
sizes[i] = roi.size(); sizes[i] = roi.size();
} }
...@@ -309,15 +317,16 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_) ...@@ -309,15 +317,16 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
full_img.release(); full_img.release();
Size img_size = img.size(); Size img_size = img.size();
Mat K;
cameras[img_idx].K().convertTo(K, CV_32F);
// Warp the current image // Warp the current image
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, warper->warp(img, K, cameras[img_idx].R, img_warped);
img_warped);
// Warp the current image mask // Warp the current image mask
mask.create(img_size, CV_8U); mask.create(img_size, CV_8U);
mask.setTo(Scalar::all(255)); mask.setTo(Scalar::all(255));
warper->warp(mask, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, mask_warped, warper->warp(mask, K, cameras[img_idx].R, mask_warped, INTER_NEAREST, BORDER_CONSTANT);
INTER_NEAREST, BORDER_CONSTANT);
// Compensate exposure // Compensate exposure
exposure_comp_->apply(img_idx, corners[img_idx], img_warped, mask_warped); exposure_comp_->apply(img_idx, corners[img_idx], img_warped, mask_warped);
......
modules/stitching/src/warpers.cpp
View file @ 23636433
...@@ -47,46 +47,30 @@ using namespace std; ...@@ -47,46 +47,30 @@ using namespace std;
namespace cv { namespace cv {
namespace detail { namespace detail {
Ptr<Warper> Warper::createByCameraFocal(float focal, int type, bool try_gpu) void ProjectorBase::setCameraParams(const Mat &K, const Mat &R)
{ {
#ifndef ANDROID CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
bool can_use_gpu = try_gpu && gpu::getCudaEnabledDeviceCount(); CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
if (can_use_gpu)
{ Mat_<float> K_(K);
if (type == PLANE) k[0] = K_(0,0); k[1] = K_(0,1); k[2] = K_(0,2);
return new PlaneWarperGpu(focal); k[3] = K_(1,0); k[4] = K_(1,1); k[5] = K_(1,2);
if (type == CYLINDRICAL) k[6] = K_(2,0); k[7] = K_(2,1); k[8] = K_(2,2);
return new CylindricalWarperGpu(focal);
if (type == SPHERICAL) Mat_<float> Rinv = R.t();
return new SphericalWarperGpu(focal); rinv[0] = Rinv(0,0); rinv[1] = Rinv(0,1); rinv[2] = Rinv(0,2);
} rinv[3] = Rinv(1,0); rinv[4] = Rinv(1,1); rinv[5] = Rinv(1,2);
else rinv[6] = Rinv(2,0); rinv[7] = Rinv(2,1); rinv[8] = Rinv(2,2);
#endif
{ Mat_<float> R_Kinv = R * K.inv();
if (type == PLANE) r_kinv[0] = R_Kinv(0,0); r_kinv[1] = R_Kinv(0,1); r_kinv[2] = R_Kinv(0,2);
return new PlaneWarper(focal); r_kinv[3] = R_Kinv(1,0); r_kinv[4] = R_Kinv(1,1); r_kinv[5] = R_Kinv(1,2);
if (type == CYLINDRICAL) r_kinv[6] = R_Kinv(2,0); r_kinv[7] = R_Kinv(2,1); r_kinv[8] = R_Kinv(2,2);
return new CylindricalWarper(focal);
if (type == SPHERICAL) Mat_<float> K_Rinv = K * Rinv;
return new SphericalWarper(focal); k_rinv[0] = K_Rinv(0,0); k_rinv[1] = K_Rinv(0,1); k_rinv[2] = K_Rinv(0,2);
} k_rinv[3] = K_Rinv(1,0); k_rinv[4] = K_Rinv(1,1); k_rinv[5] = K_Rinv(1,2);
CV_Error(CV_StsBadArg, "unsupported warping type"); k_rinv[6] = K_Rinv(2,0); k_rinv[7] = K_Rinv(2,1); k_rinv[8] = K_Rinv(2,2);
return NULL;
}
void ProjectorBase::setTransformation(const Mat &R)
{
CV_Assert(R.size() == Size(3, 3));
CV_Assert(R.type() == CV_32F);
r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
Mat Rinv = R.inv();
rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
} }
...@@ -122,18 +106,16 @@ void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br) ...@@ -122,18 +106,16 @@ void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
} }
#ifndef ANDROID #ifndef ANDROID
Point PlaneWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst, int interp_mode, int border_mode) Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst, int interp_mode, int border_mode)
{ {
src_size_ = src.size(); src_size_ = src.size();
projector_.size = src.size(); projector_.setCameraParams(K, R);
projector_.focal = focal;
projector_.setTransformation(R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br); detectResultRoi(dst_tl, dst_br);
gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)), gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
R, focal, projector_.scale, projector_.plane_dist, d_xmap_, d_ymap_); K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_); gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src); d_src_.upload(src);
...@@ -163,9 +145,11 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br) ...@@ -163,9 +145,11 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
float z = projector_.rinv[7]; float z = projector_.rinv[7];
if (y > 0.f) if (y > 0.f)
{ {
x = projector_.focal * x / z + src_size_.width * 0.5f; //x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f; //y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height) float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
float y_ = projector_.k[4] * y / z + projector_.k[5];
if (x_ > 0.f && x_ < src_size_.width && y_ > 0.f && y_ < src_size_.height)
{ {
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale)); tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale)); br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
...@@ -177,9 +161,11 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br) ...@@ -177,9 +161,11 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
z = projector_.rinv[7]; z = projector_.rinv[7];
if (y > 0.f) if (y > 0.f)
{ {
x = projector_.focal * x / z + src_size_.width * 0.5f; //x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f; //y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height) float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
float y_ = projector_.k[4] * y / z + projector_.k[5];
if (x_ > 0.f && x_ < src_size_.width && y_ > 0.f && y_ < src_size_.height)
{ {
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0)); tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0)); br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
...@@ -193,19 +179,17 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br) ...@@ -193,19 +179,17 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
} }
#ifndef ANDROID #ifndef ANDROID
Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode) int interp_mode, int border_mode)
{ {
src_size_ = src.size(); src_size_ = src.size();
projector_.size = src.size(); projector_.setCameraParams(K, R);
projector_.focal = focal;
projector_.setTransformation(R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br); detectResultRoi(dst_tl, dst_br);
gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)), gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
R, focal, projector_.scale, d_xmap_, d_ymap_); K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_); gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src); d_src_.upload(src);
...@@ -220,19 +204,17 @@ Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &d ...@@ -220,19 +204,17 @@ Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &d
} }
Point CylindricalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst, Point CylindricalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode) int interp_mode, int border_mode)
{ {
src_size_ = src.size(); src_size_ = src.size();
projector_.size = src.size(); projector_.setCameraParams(K, R);
projector_.focal = focal;
projector_.setTransformation(R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br); detectResultRoi(dst_tl, dst_br);
gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)), gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
R, focal, projector_.scale, d_xmap_, d_ymap_); K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_); gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src); d_src_.upload(src);
......
samples/cpp/stitching.cpp
View file @ 23636433
...@@ -103,7 +103,7 @@ int parseCmdArgs(int argc, char** argv) ...@@ -103,7 +103,7 @@ int parseCmdArgs(int argc, char** argv)
printUsage(); printUsage();
return -1; return -1;
} }
else if (string(argv[i]) == "--try_gpu") else if (string(argv[i]) == "--try_use_gpu")
{ {
if (string(argv[i + 1]) == "no") if (string(argv[i + 1]) == "no")
try_use_gpu = false; try_use_gpu = false;
......
samples/cpp/stitching_detailed.cpp
View file @ 23636433
...@@ -42,6 +42,7 @@ ...@@ -42,6 +42,7 @@
//M*/ //M*/
#include <fstream> #include <fstream>
#include <string>
#include "opencv2/highgui/highgui.hpp" #include "opencv2/highgui/highgui.hpp"
#include "opencv2/stitching/detail/autocalib.hpp" #include "opencv2/stitching/detail/autocalib.hpp"
#include "opencv2/stitching/detail/blenders.hpp" #include "opencv2/stitching/detail/blenders.hpp"
...@@ -52,6 +53,7 @@ ...@@ -52,6 +53,7 @@
#include "opencv2/stitching/detail/seam_finders.hpp" #include "opencv2/stitching/detail/seam_finders.hpp"
#include "opencv2/stitching/detail/util.hpp" #include "opencv2/stitching/detail/util.hpp"
#include "opencv2/stitching/detail/warpers.hpp" #include "opencv2/stitching/detail/warpers.hpp"
#include "opencv2/stitching/warpers.hpp"
using namespace std; using namespace std;
using namespace cv; using namespace cv;
...@@ -118,7 +120,7 @@ float conf_thresh = 1.f; ...@@ -118,7 +120,7 @@ float conf_thresh = 1.f;
bool wave_correct = true; bool wave_correct = true;
bool save_graph = false; bool save_graph = false;
std::string save_graph_to; std::string save_graph_to;
int warp_type = Warper::SPHERICAL; string warp_type = "spherical";
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS; int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
float match_conf = 0.65f; float match_conf = 0.65f;
int seam_find_type = SeamFinder::GC_COLOR; int seam_find_type = SeamFinder::GC_COLOR;
...@@ -223,17 +225,7 @@ int parseCmdArgs(int argc, char** argv) ...@@ -223,17 +225,7 @@ int parseCmdArgs(int argc, char** argv)
} }
else if (string(argv[i]) == "--warp") else if (string(argv[i]) == "--warp")
{ {
if (string(argv[i + 1]) == "plane") warp_type = string(argv[i + 1]);
warp_type = Warper::PLANE;
else if (string(argv[i + 1]) == "cylindrical")
warp_type = Warper::CYLINDRICAL;
else if (string(argv[i + 1]) == "spherical")
warp_type = Warper::SPHERICAL;
else
{
cout << "Bad warping method\n";
return -1;
}
i++; i++;
} }
else if (string(argv[i]) == "--expos_comp") else if (string(argv[i]) == "--expos_comp")
...@@ -479,15 +471,42 @@ int main(int argc, char* argv[]) ...@@ -479,15 +471,42 @@ int main(int argc, char* argv[])
} }
// Warp images and their masks // Warp images and their masks
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
warp_type, try_gpu); Ptr<WarperCreator> warper_creator;
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarper();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarper();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarper();
}
else
#endif
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarperGpu();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarperGpu();
}
if (warper_creator.empty())
{
cout << "Can't create the following warper '" << warp_type << "'\n";
return 1;
}
Ptr<Warper> warper = warper_creator->create(static_cast<float>(warped_image_scale * seam_work_aspect));
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect), Mat_<float> K;
cameras[i].R, images_warped[i]); cameras[i].K().convertTo(K, CV_32F);
K(0,0) *= seam_work_aspect; K(0,2) *= seam_work_aspect;
K(1,1) *= seam_work_aspect; K(1,2) *= seam_work_aspect;
corners[i] = warper->warp(images[i], K, cameras[i].R, images_warped[i]);
sizes[i] = images_warped[i].size(); sizes[i] = images_warped[i].size();
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT); warper->warp(masks[i], K, cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
} }
vector<Mat> images_warped_f(num_images); vector<Mat> images_warped_f(num_images);
...@@ -535,23 +554,27 @@ int main(int argc, char* argv[]) ...@@ -535,23 +554,27 @@ int main(int argc, char* argv[])
// Update warped image scale // Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect); warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(warped_image_scale, warp_type, try_gpu); warper = warper_creator->create(warped_image_scale);
// Update corners and sizes // Update corners and sizes
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
// Update camera focal // Update intrinsics
cameras[i].focal *= compose_work_aspect; cameras[i].focal *= compose_work_aspect;
cameras[i].ppx *= compose_work_aspect;
cameras[i].ppy *= compose_work_aspect;
// Update corner and size // Update corner and size
Size sz = full_img_sizes[i]; Size sz = full_img_sizes[i];
if (abs(compose_scale - 1) > 1e-1) if (std::abs(compose_scale - 1) > 1e-1)
{ {
sz.width = cvRound(full_img_sizes[i].width * compose_scale); sz.width = cvRound(full_img_sizes[i].width * compose_scale);
sz.height = cvRound(full_img_sizes[i].height * compose_scale); sz.height = cvRound(full_img_sizes[i].height * compose_scale);
} }
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R); Mat K;
cameras[i].K().convertTo(K, CV_32F);
Rect roi = warper->warpRoi(sz, K, cameras[i].R);
corners[i] = roi.tl(); corners[i] = roi.tl();
sizes[i] = roi.size(); sizes[i] = roi.size();
} }
...@@ -563,15 +586,16 @@ int main(int argc, char* argv[]) ...@@ -563,15 +586,16 @@ int main(int argc, char* argv[])
full_img.release(); full_img.release();
Size img_size = img.size(); Size img_size = img.size();
Mat K;
cameras[img_idx].K().convertTo(K, CV_32F);
// Warp the current image // Warp the current image
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, warper->warp(img, K, cameras[img_idx].R, img_warped);
img_warped);
// Warp the current image mask // Warp the current image mask
mask.create(img_size, CV_8U); mask.create(img_size, CV_8U);
mask.setTo(Scalar::all(255)); mask.setTo(Scalar::all(255));
warper->warp(mask, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, mask_warped, warper->warp(mask, K, cameras[img_idx].R, mask_warped, INTER_NEAREST, BORDER_CONSTANT);
INTER_NEAREST, BORDER_CONSTANT);
// Compensate exposure // Compensate exposure
compensator->apply(img_idx, corners[img_idx], img_warped, mask_warped); compensator->apply(img_idx, corners[img_idx], img_warped, mask_warped);
......
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