template <class P>\r
Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,\r
Mat &dst)\r
-{ \r
+{\r
Mat xmap, ymap;\r
- Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap); \r
+ Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);\r
\r
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());\r
remap(src, dst, xmap, ymap, interp_mode, border_mode);\r
\r
inline\r
void SphericalProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
u = scale * atan2f(x_, z_);\r
- v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));\r
+ float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);\r
+ v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));\r
}\r
\r
\r
float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
\r
float r = sinf(v_) / (1 - cosf(v_));\r
- \r
+\r
u = scale * r * cos(u_);\r
v = scale * r * sin(u_);\r
}\r
\r
inline\r
void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
inline\r
void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
inline\r
void PaniniProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
float u_ = atan2f(x_, z_);\r
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
- \r
+\r
float tg = a * tanf(u_ / a);\r
u = scale * tg;\r
- \r
+\r
float sinu = sinf(u_);\r
if ( fabs(sinu) < 1E-7 )\r
v = scale * b * tanf(v_);\r
\r
float lamda = a * atanf(u / a);\r
float u_ = lamda;\r
- \r
+\r
float v_;\r
if ( fabs(lamda) > 1E-7)\r
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));\r
- else \r
+ else\r
v_ = atanf(v / b);\r
\r
float cosv = cosf(v_);\r
\r
inline\r
void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
float u_ = atan2f(x_, z_);\r
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
- \r
+\r
float tg = a * tanf(u_ / a);\r
u = - scale * tg;\r
- \r
+\r
float sinu = sinf( u_ );\r
if ( fabs(sinu) < 1E-7 )\r
v = scale * b * tanf(v_);\r
\r
float lamda = a * atanf(u / a);\r
float u_ = lamda;\r
- \r
+\r
float v_;\r
if ( fabs(lamda) > 1E-7)\r
v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));\r
- else \r
+ else\r
v_ = atanf(v / b);\r
\r
float cosv = cosf(v_);\r
\r
inline\r
void MercatorProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
float u_ = atan2f(x_, z_);\r
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
- \r
+\r
u = scale * u_;\r
v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );\r
}\r
\r
inline\r
void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)\r
-{ \r
+{\r
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
float u_ = atan2f(x_, z_);\r
float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));\r
- \r
+\r
float B = cosf(v_) * sinf(u_);\r
- \r
+\r
u = scale / 2 * logf( (1+B) / (1-B) );\r
v = scale * atan2f(tanf(v_), cosf(u_));\r
}\r
\r
inline\r
void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)\r
-{ \r
+{\r
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r
\r
inline\r
void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)\r
-{ \r
+{\r
float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];\r
float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];\r
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];\r