#include <fisheye_stitcher.hpp>

Public Member Functions
	FisheyeStitcher (int width, int height, float in_fovd, bool enb_light_compen, bool enb_refine_align, bool save_unwarped, std::string map_path)

cv::Mat	stitch (const cv::Mat &image1, const cv::Mat &image2, uint16_t p_wid, uint16_t p_x1, uint16_t p_x2, uint16_t row_start, uint16_t row_end)
	single frame stitching More...

	~FisheyeStitcher ()

Private Member Functions
cv::Mat	blend (const cv::Mat &left_img, const cv::Mat &right_img_aligned)
	Blending aligned images. More...

cv::Mat	blendLeft (const cv::Mat &bg1, const cv::Mat &bg2)
	Ramp blending on the left patch. More...

cv::Mat	blendRight (const cv::Mat &bg1, const cv::Mat &bg2)
	Ramp blending on the right patch. More...

cv::Mat	compenLightFO (const cv::Mat &in_img)
	Fisheye Light Fall-off Compensation. More...

void	createBlendMask ()
	Create binary mask for blending. More...

std::tuple< std::vector< cv::Point2f >, std::vector< cv::Point2f > >	createControlPoints (const cv::Point2f &matchLocLeft, const cv::Point2f &matchLocRight, const int row_start, const int row_end, const int p_wid, const int p_x1, const int p_x2, const int p_x2_ref)
	Construct control points for affine2D. More...

void	createMask ()
	Mask creation for cropping image data inside the FOVD circle. More...

cv::Mat	deform (const cv::Mat &in_img)
	Rigid Moving Least Squares Interpolation. More...

cv::Point2f	findMatchLoc (const cv::Mat &Ref, const cv::Mat &Tmpl, const std::string &img_window, const bool disable_display)
	Adaptive Alignment: Norm XCorr. More...

std::tuple< double, double >	fish2Eqt (const double x_dest, const double y_dest, const double W_rad)
	Convert fisheye-vertical to equirectangular (reference: Panotool) More...

void	fish2Map ()
	Map 2D fisheye image to 2D projected sphere. More...

void	genScaleMap ()
	Fisheye Light Fall-off Compensation: Scale_Map Construction. More...

void	init ()

cv::Mat	unwarp (const cv::Mat &in_img)
	Fisheye Unwarping. More...

Private Attributes
cv::Mat	m_binary_mask

std::vector< int >	m_blend_post

cv::Mat	m_cir_mask

bool	m_disable_light_compen

bool	m_enb_light_compen

bool	m_enb_refine_align

int	m_hd

int	m_hd2

int	m_hs

int	m_hs2

int	m_hs_org

float	m_in_fovd

cv::Mat	m_inner_cir_mask

float	m_inner_fovd

std::string	m_map_path

cv::Mat	m_map_x

cv::Mat	m_map_y

cv::Mat	m_mls_map_x

cv::Mat	m_mls_map_y

bool	m_save_unwarped

cv::Mat	m_scale_map

int	m_wd

int	m_wd2

int	m_ws

int	m_ws2

int	m_ws_org

Detailed Description

Definition at line 62 of file fisheye_stitcher.hpp.

Constructor & Destructor Documentation

◆ FisheyeStitcher()

stitcher::FisheyeStitcher::FisheyeStitcher	(	int	width,
		int	height,
		float	in_fovd,
		bool	enb_light_compen,
		bool	enb_refine_align,
		bool	save_unwarped,
		std::string	map_path
	)

Definition at line 38 of file fisheye_stitcher.cpp.

◆ ~FisheyeStitcher()

stitcher::FisheyeStitcher::~FisheyeStitcher ( )

Definition at line 65 of file fisheye_stitcher.cpp.

Member Function Documentation

◆ blend()

cv::Mat stitcher::FisheyeStitcher::blend	(	const cv::Mat &	left_img,
		const cv::Mat &	right_img_aligned
	)

private

Blending aligned images.

Parameters

left_img	left unwarped image
right_img_aligned	aligned right image
return	blended image

Definition at line 693 of file fisheye_stitcher.cpp.

◆ blendLeft()

cv::Mat stitcher::FisheyeStitcher::blendLeft	(	const cv::Mat &	bg1,
		const cv::Mat &	bg2
	)

private

Ramp blending on the left patch.

Parameters

bg1	first patch
bg2	second patch
return	blended patch

Definition at line 645 of file fisheye_stitcher.cpp.

◆ blendRight()

cv::Mat stitcher::FisheyeStitcher::blendRight	(	const cv::Mat &	bg1,
		const cv::Mat &	bg2
	)

private

Ramp blending on the right patch.

Parameters

bg1	first patch
bg2	second patch
return	blended patch

Definition at line 598 of file fisheye_stitcher.cpp.

◆ compenLightFO()

cv::Mat stitcher::FisheyeStitcher::compenLightFO ( const cv::Mat & in_img )

private

Fisheye Light Fall-off Compensation.

Parameters

in_img	LFO-uncompensated image
return	LFO-compensated image

Definition at line 313 of file fisheye_stitcher.cpp.

◆ createBlendMask()

void stitcher::FisheyeStitcher::createBlendMask ( )

private

Create binary mask for blending.

Update member masks.

Definition at line 340 of file fisheye_stitcher.cpp.

◆ createControlPoints()

std::tuple< std::vector< cv::Point2f >, std::vector< cv::Point2f > > stitcher::FisheyeStitcher::createControlPoints	(	const cv::Point2f &	matchLocLeft,
		const cv::Point2f &	matchLocRight,
		const int	row_start,
		const int	row_end,
		const int	p_wid,
		const int	p_x1,
		const int	p_x2,
		const int	p_x2_ref
	)

private

Construct control points for affine2D.

Parameters

movingPoints	return match points of template on reference
fixedPoints	return match points of template on template

Definition at line 546 of file fisheye_stitcher.cpp.

◆ createMask()

void stitcher::FisheyeStitcher::createMask ( )

private

Mask creation for cropping image data inside the FOVD circle.

Update member m_cir_mask (circular mask), inner_cir_mask (circular
mask for the inner circle).

Definition at line 172 of file fisheye_stitcher.cpp.

◆ deform()

cv::Mat stitcher::FisheyeStitcher::deform ( const cv::Mat & src )

private

Rigid Moving Least Squares Interpolation.

Parameters

src	source image
return	deformed image

Definition at line 203 of file fisheye_stitcher.cpp.

◆ findMatchLoc()

cv::Point2f stitcher::FisheyeStitcher::findMatchLoc	(	const cv::Mat &	Ref,
		const cv::Mat &	Tmpl,
		const std::string &	img_window,
		const bool	disable_display
	)

private

Adaptive Alignment: Norm XCorr.

Parameters

Ref	reference image
Tmpl	template image
return	matching location

Definition at line 489 of file fisheye_stitcher.cpp.

◆ fish2Eqt()

std::tuple< double, double > stitcher::FisheyeStitcher::fish2Eqt	(	const double	x_dest,
		const double	y_dest,
		const double	W_rad
	)

private

Convert fisheye-vertical to equirectangular (reference: Panotool)

Definition at line 88 of file fisheye_stitcher.cpp.

◆ fish2Map()

void stitcher::FisheyeStitcher::fish2Map ( )

private

Map 2D fisheye image to 2D projected sphere.

Parameters

map_x	map for x element.
map_y	map for y element.

Update member grid maps m_map_x, m_map_y

Definition at line 128 of file fisheye_stitcher.cpp.

◆ genScaleMap()

void stitcher::FisheyeStitcher::genScaleMap ( )

private

Fisheye Light Fall-off Compensation: Scale_Map Construction.

Parameters

R_pf	everse profile model Update member m_scale_map

Definition at line 219 of file fisheye_stitcher.cpp.

◆ init()

void stitcher::FisheyeStitcher::init ( )

private

Definition at line 436 of file fisheye_stitcher.cpp.

◆ stitch()

cv::Mat stitcher::FisheyeStitcher::stitch	(	const cv::Mat &	in_img_L,
		const cv::Mat &	in_img_R,
		uint16_t	p_wid,
		uint16_t	p_x1,
		uint16_t	p_x2,
		uint16_t	row_start,
		uint16_t	row_end
	)

single frame stitching

Parameters

in_img_L	left image
in_img_R	right image
return	stitched image

Definition at line 795 of file fisheye_stitcher.cpp.

◆ unwarp()

cv::Mat stitcher::FisheyeStitcher::unwarp ( const cv::Mat & src )

private

Fisheye Unwarping.

Unwarp source fisheye -> 360x180 equirectangular

Definition at line 75 of file fisheye_stitcher.cpp.

Member Data Documentation

◆ m_binary_mask

cv::Mat stitcher::FisheyeStitcher::m_binary_mask

private

Definition at line 126 of file fisheye_stitcher.hpp.

◆ m_blend_post

std::vector<int> stitcher::FisheyeStitcher::m_blend_post

private

Definition at line 127 of file fisheye_stitcher.hpp.

◆ m_cir_mask

cv::Mat stitcher::FisheyeStitcher::m_cir_mask

private

Definition at line 124 of file fisheye_stitcher.hpp.

◆ m_disable_light_compen

bool stitcher::FisheyeStitcher::m_disable_light_compen

private

Definition at line 118 of file fisheye_stitcher.hpp.

◆ m_enb_light_compen

bool stitcher::FisheyeStitcher::m_enb_light_compen

private

Definition at line 117 of file fisheye_stitcher.hpp.

◆ m_enb_refine_align

bool stitcher::FisheyeStitcher::m_enb_refine_align

private

Definition at line 119 of file fisheye_stitcher.hpp.

◆ m_hd

int stitcher::FisheyeStitcher::m_hd

private

Definition at line 111 of file fisheye_stitcher.hpp.

◆ m_hd2

int stitcher::FisheyeStitcher::m_hd2

private

Definition at line 114 of file fisheye_stitcher.hpp.

◆ m_hs

int stitcher::FisheyeStitcher::m_hs

private

Definition at line 108 of file fisheye_stitcher.hpp.

◆ m_hs2

int stitcher::FisheyeStitcher::m_hs2

private

Definition at line 110 of file fisheye_stitcher.hpp.

◆ m_hs_org

int stitcher::FisheyeStitcher::m_hs_org

private

Definition at line 105 of file fisheye_stitcher.hpp.

◆ m_in_fovd

float stitcher::FisheyeStitcher::m_in_fovd

private

Definition at line 115 of file fisheye_stitcher.hpp.

◆ m_inner_cir_mask

cv::Mat stitcher::FisheyeStitcher::m_inner_cir_mask

private

Definition at line 125 of file fisheye_stitcher.hpp.

◆ m_inner_fovd

float stitcher::FisheyeStitcher::m_inner_fovd

private

Definition at line 116 of file fisheye_stitcher.hpp.

◆ m_map_path

std::string stitcher::FisheyeStitcher::m_map_path

private

Definition at line 121 of file fisheye_stitcher.hpp.

◆ m_map_x

cv::Mat stitcher::FisheyeStitcher::m_map_x

private

Definition at line 122 of file fisheye_stitcher.hpp.

◆ m_map_y

cv::Mat stitcher::FisheyeStitcher::m_map_y

private

Definition at line 123 of file fisheye_stitcher.hpp.

◆ m_mls_map_x

cv::Mat stitcher::FisheyeStitcher::m_mls_map_x

private

Definition at line 129 of file fisheye_stitcher.hpp.

◆ m_mls_map_y

cv::Mat stitcher::FisheyeStitcher::m_mls_map_y

private

Definition at line 130 of file fisheye_stitcher.hpp.

◆ m_save_unwarped

bool stitcher::FisheyeStitcher::m_save_unwarped

private

Definition at line 120 of file fisheye_stitcher.hpp.

◆ m_scale_map

cv::Mat stitcher::FisheyeStitcher::m_scale_map

private

Definition at line 128 of file fisheye_stitcher.hpp.

◆ m_wd

int stitcher::FisheyeStitcher::m_wd

private

Definition at line 112 of file fisheye_stitcher.hpp.

◆ m_wd2

int stitcher::FisheyeStitcher::m_wd2

private

Definition at line 113 of file fisheye_stitcher.hpp.

◆ m_ws

int stitcher::FisheyeStitcher::m_ws

private

Definition at line 107 of file fisheye_stitcher.hpp.

◆ m_ws2

int stitcher::FisheyeStitcher::m_ws2

private

Definition at line 109 of file fisheye_stitcher.hpp.

◆ m_ws_org

int stitcher::FisheyeStitcher::m_ws_org

private

Definition at line 106 of file fisheye_stitcher.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FisheyeStitcher()

◆ ~FisheyeStitcher()

Member Function Documentation

◆ blend()

◆ blendLeft()

◆ blendRight()

◆ compenLightFO()

◆ createBlendMask()

◆ createControlPoints()

◆ createMask()

◆ deform()

◆ findMatchLoc()

◆ fish2Eqt()

◆ fish2Map()

◆ genScaleMap()

◆ init()

◆ stitch()

◆ unwarp()

Member Data Documentation

◆ m_binary_mask

◆ m_blend_post

◆ m_cir_mask

◆ m_disable_light_compen

◆ m_enb_light_compen

◆ m_enb_refine_align

◆ m_hd

◆ m_hd2

◆ m_hs

◆ m_hs2

◆ m_hs_org

◆ m_in_fovd

◆ m_inner_cir_mask

◆ m_inner_fovd

◆ m_map_path

◆ m_map_x

◆ m_map_y

◆ m_mls_map_x

◆ m_mls_map_y

◆ m_save_unwarped

◆ m_scale_map

◆ m_wd

◆ m_wd2

◆ m_ws

◆ m_ws2

◆ m_ws_org