mapperpyramid.cpp

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#include "precomp.hpp"
#include <vector>

#include "opencv2/imgproc.hpp"
#include "opencv2/reg/mapperpyramid.hpp"

using namespace std;

namespace cv {
namespace reg {


////////////////////////////////////////////////////////////////////////////////////////////////////
MapperPyramid::MapperPyramid(Ptr<Mapper> baseMapper)
    : numLev_(3), numIterPerScale_(3), baseMapper_(*baseMapper)
{
}

////////////////////////////////////////////////////////////////////////////////////////////////////
Ptr<Map> MapperPyramid::calculate(InputArray _img1, InputArray image2, Ptr<Map> init) const
{
    Mat img1 = _img1.getMat();
    Mat img2;

    if(!init.empty()) {
        // We have initial values for the registration: we move img2 to that initial reference
        init->inverseWarp(image2, img2);
    } else {
        init = baseMapper_.getMap();
        img2 = image2.getMat();
    }

    cv::Ptr<Map> ident = baseMapper_.getMap();

    // Precalculate pyramid images
    vector<Mat> pyrIm1(numLev_), pyrIm2(numLev_);
    pyrIm1[0] = img1;
    pyrIm2[0] = img2;
    for(int im_i = 1; im_i < numLev_; ++im_i) {
        pyrDown(pyrIm1[im_i - 1], pyrIm1[im_i]);
        pyrDown(pyrIm2[im_i - 1], pyrIm2[im_i]);
    }

    Mat currRef, currImg;
    for(int lv_i = 0; lv_i < numLev_; ++lv_i) {
        currRef = pyrIm1[numLev_ - 1 - lv_i];
        currImg = pyrIm2[numLev_ - 1 - lv_i];
        // Scale the transformation as we are incresing the resolution in each iteration
        if(lv_i != 0) {
            ident->scale(2.);
        }
        for(int it_i = 0; it_i < numIterPerScale_; ++it_i) {
            ident = baseMapper_.calculate(currRef, currImg, ident);
        }
    }

    init->compose(ident);
    return init;
}

////////////////////////////////////////////////////////////////////////////////////////////////////
cv::Ptr<Map> MapperPyramid::getMap() const
{
    return cv::Ptr<Map>();
}


}}  // namespace cv::reg