Added spherical and cylindrical warpers, which work in the portrait mode -- when…

Added spherical and cylindrical warpers, which work in the portrait mode -- when poles are located NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.

modules/stitching/include/opencv2/stitching/detail/warpers.hpp

@@ -304,6 +304,45 @@ private:
 };
 #endif
 
+
+struct SphericalPortraitProjector : 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 NOT at (0, -1, 0) and (0, 1, 0) points, BUT at (1, 0, 0) and (-1, 0, 0) points.
+class SphericalPortraitWarper : public RotationWarperBase<SphericalPortraitProjector>
+{
+public:
+    SphericalPortraitWarper(float scale) { projector_.scale = scale; }
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
+};
+
+struct CylindricalPortraitProjector : ProjectorBase
+{
+    void mapForward(float x, float y, float &u, float &v);
+    void mapBackward(float u, float v, float &x, float &y);
+};
+
+
+class CylindricalPortraitWarper : public RotationWarperBase<CylindricalPortraitProjector>
+{
+public:
+    CylindricalPortraitWarper(float scale) { projector_.scale = scale; }
+
+protected:
+    void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+    { 
+        RotationWarperBase<CylindricalPortraitProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br); 
+    }
+};
+
+
 } // namespace detail
 } // namespace cv
 

modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp

@@ -298,6 +298,97 @@ void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
     else x = y = -1;
 }
 
+inline
+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 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 x_ = y0_;
+    float y_ = x0_;
+    float u, v;
+
+    u = scale * atan2f(x_, z_);
+    v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
+
+    u0 = -u;//v;
+    v0 = v;//u;
+}
+
+
+inline
+void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
+{
+    float u, v;
+    u = -u0;//v0;
+    v = v0;//u0;
+
+    u /= scale;
+    v /= scale;
+
+    float sinv = sinf(static_cast<float>(CV_PI) - v);
+    float x0_ = sinv * sinf(u);
+    float y0_ = cosf(static_cast<float>(CV_PI) - v);
+    float z_ = sinv * cosf(u);
+
+    float x_ = y0_;
+    float y_ = x0_;
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
+inline
+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 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 x_ = y0_;
+    float y_ = x0_;
+    float u, v;
+
+    u = scale * atan2f(x_, z_);
+    v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
+
+    u0 = -u;//v;
+    v0 = v;//u;
+}
+
+
+inline
+void CylindricalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
+{
+    float u, v;
+    u = -u0;//v0;
+    v = v0;//u0;
+
+    u /= scale;
+    v /= scale;
+
+    float x0_ = sinf(u);
+    float y0_ = v;
+    float z_  = cosf(u);
+
+    float x_ = y0_;
+    float y_ = x0_;
+
+    float z;
+    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
+    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
+    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
+
+    if (z > 0) { x /= z; y /= z; }
+    else x = y = -1;
+}
+
 } // namespace detail
 } // namespace cv
 

modules/stitching/src/warpers.cpp

@@ -296,5 +296,48 @@ Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat
 }
 #endif
 
+void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
+{
+    detectResultRoiByBorder(src_size, dst_tl, dst_br);
+
+    float tl_uf = static_cast<float>(dst_tl.x);
+    float tl_vf = static_cast<float>(dst_tl.y);
+    float br_uf = static_cast<float>(dst_br.x);
+    float br_vf = static_cast<float>(dst_br.y);
+
+    float x = projector_.rinv[0];
+    float y = projector_.rinv[3];
+    float z = projector_.rinv[6];
+    if (y > 0.f)
+    {
+        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));
+            br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
+        }
+    }
+
+    x = projector_.rinv[0];
+    y = -projector_.rinv[3];
+    z = projector_.rinv[6];
+    if (y > 0.f)
+    {
+        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));
+            br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
+        }
+    }
+
+    dst_tl.x = static_cast<int>(tl_uf);
+    dst_tl.y = static_cast<int>(tl_vf);
+    dst_br.x = static_cast<int>(br_uf);
+    dst_br.y = static_cast<int>(br_vf);
+}
+
 } // namespace detail
 } // namespace cv