#include <Projector.h>

Public Member Functions
void	projectMat (const cv::Mat &m, cv::Mat &outimage, int filltype=cv::BORDER_TRANSPARENT, const cv::Scalar &value=cv::Scalar())
	Projector ()
	Projector (const cv::Size &output_size, float theta_range=2 *CV_PI, float phi_range=CV_PI)
void	setSRandK (const cv::Size &inputsz, const cv::Mat &R, const cv::Mat &K)
	Sets up the projector to remap based on the given R and K. Call this before calling any of the member project functions.
	~Projector (void)
Static Public Member Functions
static cv::Mat	createHomogSphrCoords (const cv::Size &sphere_size=cv::Size(200, 200), float theta_range=2 *CV_PI, float phi_range=CV_PI)
static cv::Mat	createSphericalCoords (const cv::Size &sphere_size=cv::Size(200, 200), float theta_range=2 *CV_PI, float phi_range=CV_PI)
static void	createSphericalCoords (const cv::Size &sphere_size, float theta_0, float theta_1, float phi_0, float phi_1, cv::Mat &spherical_coords)
static void	getSphereGMap (const cv::Mat &K, const cv::Mat &G, cv::Mat &remap1, cv::Mat &remap2, const cv::Mat &homog_sphr_coords, const cv::Size &output_size)
static void	getSphereMask (const cv::Mat &onezies, const cv::Mat &remap1, const cv::Mat &remap2, cv::Mat &mask)
static void	getSphereRMap (const cv::Mat &K, const cv::Mat &R, cv::Mat &remap1, cv::Mat &remap2, const cv::Mat &spherical_points, const cv::Size &output_size)
static void	getSphereRMapMask (const cv::Mat &K, const cv::Mat &R, cv::Mat &remap, cv::Mat &mask, const cv::Mat &spherical_points, cv::Mat &tm)
static void	projectImage (const cv::Mat &image, const cv::Mat &remap1, const cv::Mat &remap2, cv::Mat &outputimage, int filltype=cv::BORDER_TRANSPARENT, const cv::Scalar &border_value=cv::Scalar())
Static Private Member Functions
static void	getSphereGMap (const cv::Mat &K, const cv::Mat &G, cv::Mat &remap1, cv::Mat &remap2, const cv::Mat &homog_sphr_coords, const cv::Size &output_size, std::vector< cv::Mat > &working_mats)
static void	getSphereRMap (const cv::Mat &K, const cv::Mat &R, cv::Mat &remap1, cv::Mat &remap2, const cv::Mat &spherical_points, const cv::Size &output_size, std::vector< cv::Mat > &working_mats)
Private Attributes
cv::Size	input_image_sz
cv::Mat	K
cv::Mat	Kinv
cv::Size	outimage_size
cv::Mat	R
cv::Mat	remap1
cv::Mat	remap2
cv::Mat	spherical_coords
std::vector< cv::Mat >	working_mats
Friends
class	SparseProjector

Detailed Description

Definition at line 9 of file Projector.h.

Constructor & Destructor Documentation

pano::Projector::Projector ( ) [inline]

Definition at line 18 of file Projector.h.

pano::Projector::Projector	(	const cv::Size &	output_size,
		float	theta_range = `2 * CV_PI`,
		float	phi_range = `CV_PI`
	)

Parameters:

output_size size of final spherical projection image width = 2 pi height = pi center pixel is 0,0 essentially, with x going from -pi to pi and y going from -pi/2 to pi/2 ???TODO:define direction of y

Definition at line 288 of file Projector.cpp.

pano::Projector::~Projector ( void )

Definition at line 295 of file Projector.cpp.

Member Function Documentation

static cv::Mat pano::Projector::createHomogSphrCoords	(	const cv::Size &	sphere_size = `cv::Size(200, 200)`,
		float	theta_range = `2 *CV_PI`,
		float	phi_range = `CV_PI`
	)		`[static]`

Like createSphereicalCoords but with row of 1's appended so 4x4 matrices can operate on it

cv::Mat pano::Projector::createSphericalCoords	(	const cv::Size &	sphere_size = `cv::Size(200,200)`,
		float	theta_range = `2 * CV_PI`,
		float	phi_range = `CV_PI`
	)		`[static]`

Parameters:

sphere_size
theta_range	the longitudinal range of the spherical cooridinates produced
phi_range	the latitudinal range of the coords produced

Returns:: a Mat(sphere_size, cv::DataType<cv::Point3d>::type) where every point in the mat lies on the unit sphere, in the lat long ranges specified. So to go from spherical coorinate (theta,phi) to (x,y,z) just look in the mat.at(phi,theta) cv::Point3d& point = sphere.at<cv::Point3d> (phi, theta)

Definition at line 216 of file Projector.cpp.

static void pano::Projector::createSphericalCoords	(	const cv::Size &	sphere_size,
		float	theta_0,
		float	theta_1,
		float	phi_0,
		float	phi_1,
		cv::Mat &	spherical_coords
	)		`[static]`

void pano::Projector::getSphereGMap	(	const cv::Mat &	K,
		const cv::Mat &	G,
		cv::Mat &	remap1,
		cv::Mat &	remap2,
		const cv::Mat &	homog_sphr_coords,
		const cv::Size &	output_size
	)		`[static]`

create forward and backward maps to send and image described by calibration matrix K into spherical coords. Image is treated as lying on the sphere with flat distribution of rads per pixel. G is 4x4 matrix.

Definition at line 24 of file Projector.cpp.

void pano::Projector::getSphereGMap	(	const cv::Mat &	K,
		const cv::Mat &	G,
		cv::Mat &	remap1,
		cv::Mat &	remap2,
		const cv::Mat &	homog_sphr_coords,
		const cv::Size &	output_size,
		std::vector< cv::Mat > &	working_mats
	)		`[static, private]`

Definition at line 125 of file Projector.cpp.

void pano::Projector::getSphereMask	(	const cv::Mat &	onezies,
		const cv::Mat &	remap1,
		const cv::Mat &	remap2,
		cv::Mat &	mask
	)		`[static]`

Definition at line 264 of file Projector.cpp.

void pano::Projector::getSphereRMap	(	const cv::Mat &	K,
		const cv::Mat &	R,
		cv::Mat &	remap1,
		cv::Mat &	remap2,
		const cv::Mat &	spherical_points,
		const cv::Size &	output_size
	)		`[static]`

create a remap matrix that is the size of the output image

Parameters:

K	camera calibration matrix
R	the rotation to calc the remap matrix - identity means the center pixel of the output image, or the vector (0,0,1)
remap1	out parameter, that will hold a matrix of size given by the projector of outimage see the opencv documentation for remap http://opencv.willowgarage.com/documentation/cpp/geometric_image_transformations.html?highlight=remap#remap
remap2	out parameter, these are both necessary to pass to the project image function. the remap1 and remap2 are generated using the cv::convertMaps function, for fixed point math, supposedly faster intended use of the remapMat matrix, this will leave outliers alone(transparent) cv::remap(img, outputimge, remapMat, cv::Mat(), cv::INTER_LINEAR);

to get a

Definition at line 16 of file Projector.cpp.

void pano::Projector::getSphereRMap	(	const cv::Mat &	K,
		const cv::Mat &	R,
		cv::Mat &	remap1,
		cv::Mat &	remap2,
		const cv::Mat &	spherical_points,
		const cv::Size &	output_size,
		std::vector< cv::Mat > &	working_mats
	)		`[static, private]`

Definition at line 104 of file Projector.cpp.

void pano::Projector::getSphereRMapMask	(	const cv::Mat &	K,
		const cv::Mat &	R,
		cv::Mat &	remap,
		cv::Mat &	mask,
		const cv::Mat &	spherical_points,
		cv::Mat &	tm
	)		`[static]`

Definition at line 30 of file Projector.cpp.

void pano::Projector::projectImage	(	const cv::Mat &	image,
		const cv::Mat &	remap1,
		const cv::Mat &	remap2,
		cv::Mat &	outputimage,
		int	filltype = `cv::BORDER_TRANSPARENT`,
		const cv::Scalar &	border_value = `cv::Scalar()`
	)		`[static]`

Definition at line 273 of file Projector.cpp.

void pano::Projector::projectMat	(	const cv::Mat &	m,
		cv::Mat &	outimage,
		int	filltype = `cv::BORDER_TRANSPARENT`,
		const cv::Scalar &	value = `cv::Scalar()`
	)