| // 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) | |
| 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 | |