[libcvd-members] libcvd/cvd vision.h

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/libcvd
Module name:    libcvd
Changes by:     Gerhard Reitmayr <gerhard>      11/08/02 22:36:55

Modified files:
        cvd            : vision.h 

Log message:
        added warp functions that transforms an image from one camera model 
into another one

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd/vision.h?cvsroot=libcvd&r1=1.40&r2=1.41

Patches:
Index: vision.h
===================================================================
RCS file: /cvsroot/libcvd/libcvd/cvd/vision.h,v
retrieving revision 1.40
retrieving revision 1.41
diff -u -b -r1.40 -r1.41
--- vision.h    22 Apr 2011 14:56:09 -0000      1.40
+++ vision.h    2 Aug 2011 22:36:55 -0000       1.41
@@ -416,6 +416,42 @@
       }
     }
   }
+  
+/// warp or unwarps an image according to two camera models.
+template <typename T, typename CAM1, typename CAM2>
+void warp( const SubImage<T> & in, const CAM1 & cam_in, SubImage<T> & out, 
const CAM2 & cam_out){
+       const ImageRef size = out.size();
+       for(int y = 0; y < size.y; ++y){
+               for(int x = 0; x < size.x; ++x){
+                       TooN::Vector<2> l = 
cam_in.project(cam_out.unproject(TooN::makeVector(x,y)));
+                       if(l[0] >= 0 && l[0] <= in.size().x - 1 && l[1] >= 0 && 
l[1] <= in.size().y -1){
+                               sample(in, l[0], l[1], out[y][x]);
+                       } else 
+                               out[y][x] = T();
+               }
+       }
+}
+
+/// warps or unwarps an image according to two camera models and
+/// returns the result image. The size of the output image needs to be
+/// passed in as well.
+template <typename T, typename CAM1, typename CAM2>
+Image<T> warp( const SubImage<T> & in, const CAM1 & cam_in, const ImageRef & 
size, const CAM2 & cam_out){
+       Image<T> result(size);
+       warp(in, cam_in, result, cam_out);
+       return result;
+}
+
+/// warps or unwarps an image according to two camera models and
+/// returns the result image. The size of the output image is the
+/// same as the input image size.
+template <typename T, typename CAM1, typename CAM2>
+Image<T> warp( const SubImage<T> & in, const CAM1 & cam_in, const CAM2 & 
cam_out){
+       Image<T> result(in.size());
+       warp(in, cam_in, result, cam_out);
+       return result;
+}
+
 #endif
 
 /// flips an image vertically in place.