@@ -27,6 +27,149 @@ Rotation-only model image warpers interface. ::
virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
};
detail::RotationWarper::warpPoint
---------------------------------
Projects the image point.
.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
:param pt: Source point
:param K: Camera intrinsic parameters
:param R: Camera rotation matrix
:return: Projected point
detail::RotationWarper::buildMaps
---------------------------------
Builds the projection maps according to the given camera data.
.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
:param src_size: Source image size
:param K: Camera intrinsic parameters
:param R: Camera rotation matrix
:param xmap: Projection map for the x axis
:param ymap: Projection map for the y axis
:return: Projected image minimum bounding box
detail::RotationWarper::warp
----------------------------
Projects the image.
.. ocv:function:: Point detal::RotationWarper::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
:param src: Source image
:param K: Camera intrinsic parameters
:param R: Camera rotation matrix
:param interp_mode: Interpolation mode
:param border_mode: Border extrapolation mode
:param dst: Projected image
:return: Project image top-left corner
detail::RotationWarper::warpBackward
------------------------------------
Projects the image backward.
.. ocv:function:: void detail::RotationWarper::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Size dst_size, Mat &dst)
:param src: Projected image
:param K: Camera intrinsic parameters
:param R: Camera rotation matrix
:param interp_mode: Interpolation mode
:param border_mode: Border extrapolation mode
:param dst_size: Backward-projected image size
:param dst_size: Backward-projected image
detail::RotationWarper::warpRoi
-------------------------------
.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, const Mat &K, const Mat &R)
:param src_size: Source image bounding box
:param K: Camera intrinsic parameters
:param R: Camera rotation matrix
:return: Projected image minimum bounding box
detail::ProjectorBase
---------------------
.. ocv:struct:: detail::ProjectorBase
Base class for warping logic implementation. ::
struct CV_EXPORTS ProjectorBase
{
void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
const Mat &R = Mat::eye(3, 3, CV_32F),
const Mat &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];
};
detail::RotationWarperBase
--------------------------
.. ocv:class:: detail::RotationWarperBase
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, const Mat &K, const Mat &R);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst);
void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Size dst_size, Mat &dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &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);
