fisheye_stitcher.hpp

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/* Copied from https://github.com/drNoob13/fisheyeStitcher/tree/45d65907b63c300523c6143794124411920cdbb9, 2020/02/05 */
/*
MIT License
 
Copyright (c) 2018-2020 Tuan Phan Minh Ho
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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//----------------------------------------------------------------------------//
//                                                                            //
// This file is part of the fisheye stitcher project.                         //
// Copyright (c) 2018-2020 Tuan Phan Minh Ho <drnoob2013@gmail.com>           //
// https://github.com/drNoob13/fisheyeStitcher                                //
//                                                                            //
//----------------------------------------------------------------------------//
#ifndef FISHEYE_STITCHER_HPP
#define FISHEYE_STITCHER_HPP
 
#include <iostream>
#include <fstream>
#include <string>
#include <vector> 
#include <tuple>
 
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp> // for imshow
#include <opencv2/calib3d.hpp> // for findHomography
#include "opencv2/stitching/detail/seam_finders.hpp" // seam_finder
#include <opencv2/core/utility.hpp>
 
#define     MAX_FOVD      195.0f
 
// Polynomial Coefficients
#define    P1_    -7.5625e-17
#define    P2_     1.9589e-13
#define    P3_    -1.8547e-10
#define    P4_     6.1997e-08
#define    P5_    -6.9432e-05
#define    P6_     0.9976
 
namespace stitcher
{
 
class FisheyeStitcher
{
public:
    FisheyeStitcher(int width, int height, float in_fovd, 
                    bool enb_light_compen, bool enb_refine_align,
                    bool save_unwarped, std::string map_path);
    ~FisheyeStitcher();
    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);
 
private:
    cv::Mat unwarp(const cv::Mat &in_img);
    std::tuple<double, double> fish2Eqt(const double x_dest, 
                                        const double y_dest, 
                                        const double W_rad);
    void fish2Map();
    void createMask();
    cv::Mat deform( const cv::Mat &in_img);
    void genScaleMap();
    cv::Mat compenLightFO(const cv::Mat &in_img);
    void createBlendMask();
    void init();
 
    cv::Point2f findMatchLoc(const cv::Mat &Ref, 
                             const cv::Mat &Tmpl, 
                             const std::string &img_window, 
                             const bool disable_display);
 
    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);
 
    cv::Mat blendRight(const cv::Mat &bg1, const cv::Mat &bg2);
    cv::Mat blendLeft(const cv::Mat &bg1, const cv::Mat &bg2);
    cv::Mat blend(const cv::Mat &left_img, const cv::Mat &right_img_aligned);
 
    // Parameters
    int m_hs_org; // height of the input image (2xfisheyes), e.g. 1920
    int m_ws_org; // width of the input image (2xfisheyes), e.g. 3840
    int m_ws;     // width of one fisheye image, e.g. 1920
    int m_hs;     // height of one fisheye image, e.g. 1920
    int m_ws2;    // m_ws / 2 
    int m_hs2;    // m_hs / 2
    int m_hd;     // height of destination pano image
    int m_wd;     // width of destination pano image
    int m_wd2;    // m_wd / 2
    int m_hd2;    // m_hd / 2 
    float m_in_fovd;
    float m_inner_fovd; // used in creating mask
    bool m_enb_light_compen;
    bool m_disable_light_compen;
    bool m_enb_refine_align;
    bool m_save_unwarped;
    std::string m_map_path;  // path of MLS grids
    cv::Mat m_map_x; // used in deformation
    cv::Mat m_map_y; // used in deformation
    cv::Mat m_cir_mask;
    cv::Mat m_inner_cir_mask;
    cv::Mat m_binary_mask;
    std::vector<int> m_blend_post;
    cv::Mat m_scale_map;
    cv::Mat m_mls_map_x;
    cv::Mat m_mls_map_y;
 
};  // class
 
}   // namespace
 
#endif  // FISHEYE_STITCHER_HPP