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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
// Copyright (C) 2013, Alfonso Sanchez-Beato, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include <vector>
#include "opencv2/imgproc.hpp"
#include "opencv2/reg/mapperpyramid.hpp"
using namespace std;
namespace cv {
namespace reg {
////////////////////////////////////////////////////////////////////////////////////////////////////
MapperPyramid::MapperPyramid(const Mapper& baseMapper)
: numLev_(3), numIterPerScale_(3), baseMapper_(baseMapper)
{
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void MapperPyramid::calculate(const Mat& img1, const Mat& image2, Ptr<Map>& res) const
{
Mat img2;
if(!res.empty()) {
// We have initial values for the registration: we move img2 to that initial reference
res->inverseWarp(image2, img2);
} else {
res = baseMapper_.getMap();
img2 = image2;
}
cv::Ptr<Map> ident = baseMapper_.getMap();
// Precalculate pyramid images
vector<Mat> pyrIm1(numLev_), pyrIm2(numLev_);
pyrIm1[0] = img1;
pyrIm2[0] = img2;
for(size_t 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(size_t 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(size_t it_i = 0; it_i < numIterPerScale_; ++it_i) {
baseMapper_.calculate(currRef, currImg, ident);
}
}
res->compose(*ident.get());
}
////////////////////////////////////////////////////////////////////////////////////////////////////
cv::Ptr<Map> MapperPyramid::getMap(void) const
{
return cv::Ptr<Map>();
}
}} // namespace cv::reg