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refactored opencv_stitching

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This commit is contained in:
Alexey Spizhevoy
2011-05-16 05:11:09 +00:00
parent f80c93aa82
commit 79ed4e4c92
10 changed files with 78 additions and 77 deletions
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modules/stitching/warpers.cpp
+18 -18
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@@ -16,25 +16,25 @@ Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
}
void ProjectorBase::setCameraMatrix(const Mat &M)
void ProjectorBase::setCameraMatrix(const Mat &R)
{
CV_Assert(M.size() == Size(3, 3));
CV_Assert(M.type() == CV_32F);
m[0] = M.at<float>(0, 0); m[1] = M.at<float>(0, 1); m[2] = M.at<float>(0, 2);
m[3] = M.at<float>(1, 0); m[4] = M.at<float>(1, 1); m[5] = M.at<float>(1, 2);
m[6] = M.at<float>(2, 0); m[7] = M.at<float>(2, 1); m[8] = M.at<float>(2, 2);
CV_Assert(R.size() == Size(3, 3));
CV_Assert(R.type() == CV_32F);
r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
Mat M_inv = M.inv();
minv[0] = M_inv.at<float>(0, 0); minv[1] = M_inv.at<float>(0, 1); minv[2] = M_inv.at<float>(0, 2);
minv[3] = M_inv.at<float>(1, 0); minv[4] = M_inv.at<float>(1, 1); minv[5] = M_inv.at<float>(1, 2);
minv[6] = M_inv.at<float>(2, 0); minv[7] = M_inv.at<float>(2, 1); minv[8] = M_inv.at<float>(2, 2);
Mat Rinv = R.inv();
rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
}
Point Warper::operator ()(const Mat &src, float focal, const Mat& M, Mat &dst,
Point Warper::operator ()(const Mat &src, float focal, const Mat& R, Mat &dst,
int interp_mode, int border_mode)
{
return warp(src, focal, M, dst, interp_mode, border_mode);
return warp(src, focal, R, dst, interp_mode, border_mode);
}
@@ -79,9 +79,9 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
float br_uf = static_cast<float>(dst_br.x);
float br_vf = static_cast<float>(dst_br.y);
float x = projector_.minv[1];
float y = projector_.minv[4];
float z = projector_.minv[7];
float x = projector_.rinv[1];
float y = projector_.rinv[4];
float z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;
@@ -93,9 +93,9 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
}
}
x = projector_.minv[1];
y = -projector_.minv[4];
z = projector_.minv[7];
x = projector_.rinv[1];
y = -projector_.rinv[4];
z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;