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2b5a2b6 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 | // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_BASE_WARP_H_
#define COLMAP_SRC_BASE_WARP_H_
#include "base/camera.h"
#include "util/alignment.h"
#include "util/bitmap.h"
namespace colmap {
// Warp source image to target image by projecting the pixels of the target
// image up to infinity and projecting it down into the source image
// (i.e. an inverse mapping). The function allocates the target image.
void WarpImageBetweenCameras(const Camera& source_camera,
const Camera& target_camera,
const Bitmap& source_image, Bitmap* target_image);
// Warp an image with the given homography, where H defines the pixel mapping
// from the target to source image. Note that the pixel centers are assumed to
// have coordinates (0.5, 0.5).
void WarpImageWithHomography(const Eigen::Matrix3d& H,
const Bitmap& source_image, Bitmap* target_image);
// First, warp source image to target image by projecting the pixels of the
// target image up to infinity and projecting it down into the source image
// (i.e. an inverse mapping). Second, warp the coordinates from the first
// warping with the given homography. The function allocates the target image.
void WarpImageWithHomographyBetweenCameras(const Eigen::Matrix3d& H,
const Camera& source_camera,
const Camera& target_camera,
const Bitmap& source_image,
Bitmap* target_image);
// Resample row-major image using bilinear interpolation.
void ResampleImageBilinear(const float* data, const int rows, const int cols,
const int new_rows, const int new_cols,
float* resampled);
// Smooth row-major image using a Gaussian filter kernel.
void SmoothImage(const float* data, const int rows, const int cols,
const float sigma_r, const float sigma_c, float* smoothed);
// Downsample row-major image by first smoothing and then resampling.
void DownsampleImage(const float* data, const int rows, const int cols,
const int new_rows, const int new_cols,
float* downsampled);
} // namespace colmap
#endif // COLMAP_SRC_BASE_WARP_H_
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