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stitching: add warpPointBackward to warpers

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test by projecting and reprojecting back random points
This commit is contained in:
Martin Štefaňák
2020-10-16 00:28:15 +02:00
parent 8bf451a3e0
commit d31b6c3480
5 changed files with 214 additions and 0 deletions
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modules/stitching/include/opencv2/stitching/detail/warpers.hpp
+31
View File
@@ -70,6 +70,23 @@ public:
*/
virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
/** @brief Projects the image point backward.
@param pt Projected point
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@return Backward-projected point
*/
#if CV_VERSION_MAJOR == 4
virtual Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R)
{
CV_UNUSED(pt); CV_UNUSED(K); CV_UNUSED(R);
CV_Error(Error::StsNotImplemented, "");
}
#else
virtual Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R) = 0;
#endif
/** @brief Builds the projection maps according to the given camera data.
@param src_size Source image size
@@ -143,6 +160,8 @@ class CV_EXPORTS_TEMPLATE RotationWarperBase : public RotationWarper
public:
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
Point2f warpPointBackward(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) CV_OVERRIDE;
Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
@@ -189,6 +208,9 @@ public:
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) CV_OVERRIDE;
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R) CV_OVERRIDE;
Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R, InputArray T);
virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, CV_OUT OutputArray xmap, CV_OUT OutputArray ymap);
Rect buildMaps(Size src_size, InputArray K, InputArray R, CV_OUT OutputArray xmap, CV_OUT OutputArray ymap) CV_OVERRIDE;
@@ -228,6 +250,15 @@ public:
*/
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray H) CV_OVERRIDE;
/** @brief Projects the image point backward.
@param pt Projected point
@param K Camera intrinsic parameters
@param H Camera extrinsic parameters
@return Backward-projected point
*/
Point2f warpPointBackward(const Point2f &pt, InputArray K, InputArray H) CV_OVERRIDE;
/** @brief Builds the projection maps according to the given camera data.
@param src_size Source image size
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
+8
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@@ -61,6 +61,14 @@ Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputA
return uv;
}
template <class P>
Point2f RotationWarperBase<P>::warpPointBackward(const Point2f& pt, InputArray K, InputArray R)
{
projector_.setCameraParams(K, R);
Point2f xy;
projector_.mapBackward(pt.x, pt.y, xy.x, xy.y);
return xy;
}
template <class P>
Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
modules/stitching/include/opencv2/stitching/warpers.hpp
+16
View File
@@ -65,6 +65,22 @@ namespace cv {
*/
CV_WRAP Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
/** @brief Projects the image point backward.
@param pt Projected point
@param K Camera intrinsic parameters
@param R Camera rotation matrix
@return Backward-projected point
*/
#if CV_VERSION_MAJOR == 4
CV_WRAP Point2f warpPointBackward(const Point2f& pt, InputArray K, InputArray R)
{
CV_UNUSED(pt); CV_UNUSED(K); CV_UNUSED(R);
CV_Error(Error::StsNotImplemented, "");
}
#else
CV_WRAP Point2f warpPointBackward(const Point2f &pt, InputArray K, InputArray R);
#endif
/** @brief Builds the projection maps according to the given camera data.
@param src_size Source image size