/*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 <opencv2/imgproc.hpp> #include "opencv2/reg/mapprojec.hpp" namespace cv { namespace reg { //////////////////////////////////////////////////////////////////////////////////////////////////// MapProjec::MapProjec(void) : projTr_(Matx<double, 3, 3>::eye()) { } //////////////////////////////////////////////////////////////////////////////////////////////////// MapProjec::MapProjec(const Matx<double, 3, 3>& projTr) : projTr_(projTr) { } //////////////////////////////////////////////////////////////////////////////////////////////////// MapProjec::~MapProjec(void) { } //////////////////////////////////////////////////////////////////////////////////////////////////// void MapProjec::inverseWarp(const Mat& img1, Mat& img2) const { // Rows and columns in destination Mat dest_r, dest_c; dest_r.create(img1.size(), CV_32FC1); dest_c.create(img1.size(), CV_32FC1); for(int r_i = 0; r_i < img1.rows; ++r_i) { for(int c_i = 0; c_i < img1.cols; ++c_i) { double z = c_i*projTr_(2, 0) + r_i*projTr_(2, 1) + projTr_(2, 2); dest_c.at<float>(r_i, c_i) = float((c_i*projTr_(0, 0) + r_i*projTr_(0, 1) + projTr_(0, 2))/z); dest_r.at<float>(r_i, c_i) = float((c_i*projTr_(1, 0) + r_i*projTr_(1, 1) + projTr_(1, 2))/z); } } //remap(img1, img2, dest_c, dest_r, INTER_CUBIC, BORDER_REPLICATE); // Parts that cannot be interpolated will be as in img1 (BORDER_TRANSPARENT means that // remap will not touch them). img1.copyTo(img2); remap(img1, img2, dest_c, dest_r, INTER_CUBIC, BORDER_TRANSPARENT); } //////////////////////////////////////////////////////////////////////////////////////////////////// Ptr<Map> MapProjec::inverseMap(void) const { Matx<double, 3, 3> invProjTr = projTr_.inv(DECOMP_LU); return Ptr<Map>(new MapProjec(invProjTr)); } //////////////////////////////////////////////////////////////////////////////////////////////////// void MapProjec::compose(const Map& map) { // Composition of homographies H and H' is (H o H') = H'*H const MapProjec& mapProj = static_cast<const MapProjec&>(map); Matx<double, 3, 3> compProjTr = mapProj.getProjTr()*projTr_; projTr_ = compProjTr; } //////////////////////////////////////////////////////////////////////////////////////////////////// void MapProjec::scale(double factor) { // Shift is multiplied, projective factors are divided projTr_(0, 2) *= factor; projTr_(1, 2) *= factor; projTr_(2, 0) /= factor; projTr_(2, 1) /= factor; } }} // namespace cv::reg