mirror of https://github.com/emgucv/emgucv.git
Canming Huang
5 years ago
7 changed files with 995 additions and 211 deletions
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4Emgu.CV.Example/Stitching/StitchingMainForm.cs
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339Emgu.CV.Extern/stitching/stitching_c.cpp
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102Emgu.CV.Extern/stitching/stitching_c.h
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34Emgu.CV.Test/AutoTestVarious.cs
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525Emgu.CV/Stitching/RotationWarper.cs
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191Emgu.CV/Stitching/WarperCreator.cs
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11Solution/Windows.Desktop/Emgu.CV.Test.Netcore.sln
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//----------------------------------------------------------------------------
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// Copyright (C) 2004-2020 by EMGU Corporation. All rights reserved.
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//----------------------------------------------------------------------------
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using System; |
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using System.Collections.Generic; |
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using System.Runtime.InteropServices; |
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using System.Text; |
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using System.Drawing; |
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using Emgu.CV.Structure; |
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using Emgu.CV.Util; |
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using Emgu.Util; |
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namespace Emgu.CV.Stitching |
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{ |
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/// <summary>
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/// Rotation-only model image warper interface.
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/// </summary>
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public abstract class RotationWarper : UnmanagedObject |
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{ |
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/// <summary>
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/// Pointer to the unmanaged RotationWarper object
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/// </summary>
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protected IntPtr _rotationWarper; |
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/// <summary>
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/// Reset the unmanaged pointer associated to this object
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/// </summary>
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protected override void DisposeObject() |
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{ |
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if (_rotationWarper != IntPtr.Zero) |
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_rotationWarper = IntPtr.Zero; |
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} |
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/// <summary>
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/// Builds the projection maps according to the given camera data.
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/// </summary>
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/// <param name="srcSize">Source image size</param>
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/// <param name="K">Camera intrinsic parameters</param>
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/// <param name="R">Camera rotation matrix</param>
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/// <param name="xmap">Projection map for the x axis</param>
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/// <param name="ymap">Projection map for the y axis</param>
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/// <returns>Projected image minimum bounding box</returns>
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public Rectangle BuildMaps(Size srcSize, IInputArray K, IInputArray R, IOutputArray xmap, IOutputArray ymap) |
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{ |
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Rectangle result = new Rectangle(); |
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using (InputArray iaK = K.GetInputArray()) |
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using (InputArray iaR = R.GetInputArray()) |
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using (OutputArray oaXmap = xmap.GetOutputArray()) |
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using (OutputArray oaYmap = ymap.GetOutputArray()) |
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{ |
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StitchingInvoke.cveRotationWarperBuildMaps(_rotationWarper, ref srcSize, iaK, iaR, oaXmap, oaYmap, ref result); |
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return result; |
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} |
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} |
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/// <summary>
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/// Projects the image.
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/// </summary>
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/// <param name="src">Source image</param>
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/// <param name="K">Camera intrinsic parameters</param>
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/// <param name="R">Camera rotation matrix</param>
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/// <param name="interpMode">Interpolation mode</param>
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/// <param name="borderMode">Border extrapolation mode</param>
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/// <param name="dst">Projected image</param>
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/// <returns>Project image top-left corner</returns>
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public Point Warp(IInputArray src, IInputArray K, IInputArray R, CvEnum.Inter interpMode, CvEnum.BorderType borderMode, IOutputArray dst) |
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{ |
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Point corner = new Point(); |
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using (InputArray iaSrc = src.GetInputArray()) |
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using (InputArray iaK = K.GetInputArray()) |
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using (InputArray iaR = R.GetInputArray()) |
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using (OutputArray oaDst = dst.GetOutputArray()) |
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{ |
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StitchingInvoke.cveRotationWarperWarp(_rotationWarper, iaSrc, iaK, iaR, interpMode, borderMode, oaDst, ref corner); |
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return corner; |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the z = 1 plane.
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/// </summary>
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public class DetailPlaneWarper : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the plane warper class.
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailPlaneWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailPlaneWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailPlaneWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the x\*x + z\*z = 1 cylinder.
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/// </summary>
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public class DetailCylindricalWarper : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the cylindrical warper class.
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailCylindricalWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailCylindricalWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailCylindricalWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the unit sphere located at the origin.
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/// </summary>
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public class DetailSphericalWarper : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the spherical warper class.
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/// </summary>
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/// <param name="scale">Radius of the projected sphere, in pixels. An image spanning the whole sphere will have a width of 2 * scale * PI pixels.</param>
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public DetailSphericalWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailSphericalWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailSphericalWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Fisheye Warper
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/// </summary>
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public class DetailFisheyeWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a fisheye warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailFisheyeWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailFisheyeWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailFisheyeWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Stereographic Warper
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/// </summary>
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public class DetailStereographicWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a stereographic warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailStereographicWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailStereographicWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailStereographicWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Compressed rectilinear warper
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/// </summary>
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public class DetailCompressedRectilinearWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a compressed rectilinear warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailCompressedRectilinearWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailCompressedRectilinearWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailCompressedRectilinearWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Panini warper
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/// </summary>
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public class DetailPaniniWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a Panini warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailPaniniWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailPaniniWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailPaniniWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Panini portrait warper
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/// </summary>
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public class DetailPaniniPortraitWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a panini portrait warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailPaniniPortraitWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailPaniniPortraitWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailPaniniPortraitWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Mercator warper
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/// </summary>
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public class DetailMercatorWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a Mercator Warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailMercatorWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailMercatorWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailMercatorWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Transverse mercator warper
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/// </summary>
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public class DetailTransverseMercatorWarper : RotationWarper |
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{ |
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/// <summary>
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/// Create a transverse mercator warper
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailTransverseMercatorWarper(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailTransverseMercatorWarperCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailTransverseMercatorWarperRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the z = 1 plane.
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/// </summary>
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public class DetailPlaneWarperGpu : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the plane warper class.
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailPlaneWarperGpu(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailPlaneWarperGpuCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailPlaneWarperGpuRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the x\*x + z\*z = 1 cylinder.
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/// </summary>
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public class DetailCylindricalWarperGpu : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the cylindrical warper class.
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/// </summary>
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/// <param name="scale">Projected image scale multiplier</param>
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public DetailCylindricalWarperGpu(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailCylindricalWarperGpuCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailCylindricalWarperGpuRelease(ref _ptr); |
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} |
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} |
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} |
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/// <summary>
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/// Warper that maps an image onto the unit sphere located at the origin.
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/// </summary>
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public class DetailSphericalWarperGpu : RotationWarper |
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{ |
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/// <summary>
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/// Construct an instance of the spherical warper class.
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/// </summary>
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/// <param name="scale">Radius of the projected sphere, in pixels. An image spanning the whole sphere will have a width of 2 * scale * PI pixels.</param>
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public DetailSphericalWarperGpu(float scale) |
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{ |
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_ptr = StitchingInvoke.cveDetailSphericalWarperGpuCreate(scale, ref _rotationWarper); |
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} |
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/// <summary>
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/// Release the unmanaged memory associated with this warper
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/// </summary>
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protected override void DisposeObject() |
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{ |
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base.DisposeObject(); |
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if (_ptr != IntPtr.Zero) |
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{ |
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StitchingInvoke.cveDetailSphericalWarperGpuRelease(ref _ptr); |
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} |
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} |
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} |
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public static partial class StitchingInvoke |
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{ |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailPlaneWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailPlaneWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailCylindricalWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailCylindricalWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailSphericalWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailSphericalWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailFisheyeWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailFisheyeWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailStereographicWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailStereographicWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailCompressedRectilinearWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailCompressedRectilinearWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailPaniniWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailPaniniWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailPaniniPortraitWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailPaniniPortraitWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailMercatorWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailMercatorWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailTransverseMercatorWarperCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailTransverseMercatorWarperRelease(ref IntPtr warper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveRotationWarperBuildMaps(IntPtr warper, ref Size srcSize, IntPtr K, IntPtr R, IntPtr xmap, IntPtr ymap, ref Rectangle boundingBox); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveRotationWarperWarp(IntPtr warper, IntPtr src, IntPtr K, IntPtr R, CvEnum.Inter interpMode, CvEnum.BorderType borderMode, IntPtr dst, ref Point corner); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailPlaneWarperGpuCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailPlaneWarperGpuRelease(ref IntPtr warper); |
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|
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailCylindricalWarperGpuCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailCylindricalWarperGpuRelease(ref IntPtr warper); |
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|
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern IntPtr cveDetailSphericalWarperGpuCreate(float scale, ref IntPtr rotationWarper); |
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[DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)] |
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internal static extern void cveDetailSphericalWarperGpuRelease(ref IntPtr warper); |
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|
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} |
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} |
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