reg: add support of different datatypes in Mapper::grid()

modules/reg/src/mapper.cpp

@@ -59,28 +59,45 @@ void Mapper::gradient(const Mat& img1, const Mat& img2, Mat& Ix, Mat& Iy, Mat& I
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
-void Mapper::grid(const Mat& img, Mat& grid_r, Mat& grid_c) const
+
+template<typename _Tp>
+void fillGridMatrices(const Mat img, Mat grid_r, Mat grid_c)
 {
-    // Matrices with reference frame coordinates
-    grid_r.create(img.size(), img.type());
-    grid_c.create(img.size(), img.type());
     if(img.channels() == 1) {
         for(int r_i = 0; r_i < img.rows; ++r_i) {
             for(int c_i = 0; c_i < img.cols; ++c_i) {
-                grid_r.at<double>(r_i, c_i) = r_i;
-                grid_c.at<double>(r_i, c_i) = c_i;
+                grid_r.at<_Tp>(r_i, c_i) = r_i;
+                grid_c.at<_Tp>(r_i, c_i) = c_i;
             }
         }
     } else {
-        Vec3d ones(1., 1., 1.);
+        Vec<_Tp, 3> ones(1., 1., 1.);
         for(int r_i = 0; r_i < img.rows; ++r_i) {
             for(int c_i = 0; c_i < img.cols; ++c_i) {
-                grid_r.at<Vec3d>(r_i, c_i) = r_i*ones;
-                grid_c.at<Vec3d>(r_i, c_i) = c_i*ones;
+                grid_r.at< Vec<_Tp, 3> >(r_i, c_i) = r_i*ones;
+                grid_c.at< Vec<_Tp, 3> >(r_i, c_i) = c_i*ones;
             }
         }
     }
 }
 
+void Mapper::grid(const Mat& img, Mat& grid_r, Mat& grid_c) const
+{
+    CV_DbgAssert(img.channels() == 1 || img.channels() == 3);
+
+    // Matrices with reference frame coordinates
+    grid_r.create(img.size(), img.type());
+    grid_c.create(img.size(), img.type());
+
+    if(img.depth() == CV_8U)
+        fillGridMatrices<uchar>(img, grid_r, grid_c);
+    if(img.depth() == CV_16U)
+        fillGridMatrices<ushort>(img, grid_r, grid_c);
+    else if(img.depth() == CV_32F)
+        fillGridMatrices<float>(img, grid_r, grid_c);
+    else if(img.depth() == CV_64F)
+        fillGridMatrices<double>(img, grid_r, grid_c);
+}
+
 
 }}  // namespace cv::reg

modules/reg/test/test_reg.cpp

@@ -63,7 +63,7 @@ using namespace cv::reg;
 class RegTest : public testing::Test
 {
 public:
-    void loadImage();
+    void loadImage(int dstDataType = CV_32FC3);
 
     void testShift();
     void testEuclidean();
@@ -242,14 +242,13 @@ void RegTest::testProjective()
     EXPECT_GE(projNorm, sqrt(3.) - 0.01);
 }
 
-void RegTest::loadImage()
+void RegTest::loadImage(int dstDataType)
 {
     const string imageName = cvtest::TS::ptr()->get_data_path() + "reg/home.png";
 
     img1 = imread(imageName, -1);
-    ASSERT_TRUE(img1.data != 0);
-    // Convert to double, 3 channels
-    img1.convertTo(img1, CV_64FC3);
+    ASSERT_TRUE(!img1.empty());
+    img1.convertTo(img1, dstDataType);
 }
 
 
@@ -282,3 +281,15 @@ TEST_F(RegTest, projective)
     loadImage();
     testProjective();
 }
+
+TEST_F(RegTest, projective_dt64fc3)
+{
+    loadImage(CV_64FC3);
+    testProjective();
+}
+
+TEST_F(RegTest, projective_dt64fc1)
+{
+    loadImage(CV_64FC1);
+    testProjective();
+}