Rotation-only model image warper interface.
class CV_EXPORTS RotationWarper
{
public:
virtual ~RotationWarper() {}
virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray dst) = 0;
virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, OutputArray dst) = 0;
virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
};
Projects the image point.
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Returns: | Projected point |
Builds the projection maps according to the given camera data.
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Returns: | Projected image minimum bounding box |
Projects the image.
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Returns: | Project image top-left corner |
Projects the image backward.
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Returns: | Projected image minimum bounding box |
Base class for warping logic implementation.
struct CV_EXPORTS ProjectorBase
{
void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
InputArray R = Mat::eye(3, 3, CV_32F),
InputArray T = Mat::zeros(3, 1, CV_32F));
float scale;
float k[9];
float rinv[9];
float r_kinv[9];
float k_rinv[9];
float t[3];
};
Base class for rotation-based warper using a detail::ProjectorBase derived class.
template <class P>
class CV_EXPORTS RotationWarperBase : public RotationWarper
{
public:
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
OutputArray dst);
void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, OutputArray dst);
Rect warpRoi(Size src_size, InputArray K, InputArray R);
protected:
// Detects ROI of the destination image. It's correct for any projection.
virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
// Detects ROI of the destination image by walking over image border.
// Correctness for any projection isn't guaranteed.
void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
P projector_;
};
Warper that maps an image onto the z = 1 plane.
class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
{
public:
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
void setScale(float scale) { projector_.scale = scale; }
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
OutputArray dst);
Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
See also
Construct an instance of the plane warper class.
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Warper that maps an image onto the unit sphere located at the origin.
class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
{
public:
SphericalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
};
See also
Construct an instance of the spherical warper class.
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Warper that maps an image onto the x*x + z*z = 1 cylinder.
class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
{
public:
CylindricalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
}
};
See also