/*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