modules/stitching/include/opencv2/stitching/detail/warpers

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This source file includes following definitions.
warpPoint
buildMaps
warp
warpBackward
warpRoi
detectResultRoi
detectResultRoiByBorder
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
mapForward
mapBackward
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#ifndef __OPENCV_STITCHING_WARPERS_INL_HPP__
#define __OPENCV_STITCHING_WARPERS_INL_HPP__

#include "opencv2/core.hpp"
#include "warpers.hpp" // Make your IDE see declarations
#include <limits>

//! @cond IGNORED

namespace cv {
namespace detail {

template <class P>
Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputArray R)
{
    projector_.setCameraParams(K, R);
    Point2f uv;
    projector_.mapForward(pt.x, pt.y, uv.x, uv.y);
    return uv;
}


template <class P>
Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
{
    projector_.setCameraParams(K, R);

    Point dst_tl, dst_br;
    detectResultRoi(src_size, dst_tl, dst_br);

    _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
    _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);

    Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();

    float x, y;
    for (int v = dst_tl.y; v <= dst_br.y; ++v)
    {
        for (int u = dst_tl.x; u <= dst_br.x; ++u)
        {
            projector_.mapBackward(static_cast<float>(u), static_cast<float>(v), x, y);
            xmap.at<float>(v - dst_tl.y, u - dst_tl.x) = x;
            ymap.at<float>(v - dst_tl.y, u - dst_tl.x) = y;
        }
    }

    return Rect(dst_tl, dst_br);
}


template <class P>
Point RotationWarperBase<P>::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
                                  OutputArray dst)
{
    UMat xmap, ymap;
    Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);

    dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
    remap(src, dst, xmap, ymap, interp_mode, border_mode);

    return dst_roi.tl();
}


template <class P>
void RotationWarperBase<P>::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
                                         Size dst_size, OutputArray dst)
{
    projector_.setCameraParams(K, R);

    Point src_tl, src_br;
    detectResultRoi(dst_size, src_tl, src_br);

    Size size = src.size();
    CV_Assert(src_br.x - src_tl.x + 1 == size.width && src_br.y - src_tl.y + 1 == size.height);

    Mat xmap(dst_size, CV_32F);
    Mat ymap(dst_size, CV_32F);

    float u, v;
    for (int y = 0; y < dst_size.height; ++y)
    {
        for (int x = 0; x < dst_size.width; ++x)
        {
            projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
            xmap.at<float>(y, x) = u - src_tl.x;
            ymap.at<float>(y, x) = v - src_tl.y;
        }
    }

    dst.create(dst_size, src.type());
    remap(src, dst, xmap, ymap, interp_mode, border_mode);
}


template <class P>
Rect RotationWarperBase<P>::warpRoi(Size src_size, InputArray K, InputArray R)
{
    projector_.setCameraParams(K, R);

    Point dst_tl, dst_br;
    detectResultRoi(src_size, dst_tl, dst_br);

    return Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1));
}


template <class P>
void RotationWarperBase<P>::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
    float tl_uf = std::numeric_limits<float>::max();
    float tl_vf = std::numeric_limits<float>::max();
    float br_uf = -std::numeric_limits<float>::max();
    float br_vf = -std::numeric_limits<float>::max();

    float u, v;
    for (int y = 0; y < src_size.height; ++y)
    {
        for (int x = 0; x < src_size.width; ++x)
        {
            projector_.mapForward(static_cast<float>(x), static_cast<float>(y), u, v);
            tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
            br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
        }
    }

    dst_tl.x = static_cast<int>(tl_uf);
    dst_tl.y = static_cast<int>(tl_vf);
    dst_br.x = static_cast<int>(br_uf);
    dst_br.y = static_cast<int>(br_vf);
}


template <class P>
void RotationWarperBase<P>::detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br)
{
    float tl_uf = std::numeric_limits<float>::max();
    float tl_vf = std::numeric_limits<float>::max();
    float br_uf = -std::numeric_limits<float>::max();
    float br_vf = -std::numeric_limits<float>::max();

    float u, v;
    for (float x = 0; x < src_size.width; ++x)
    {
        projector_.mapForward(static_cast<float>(x), 0, u, v);
        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);

        projector_.mapForward(static_cast<float>(x), static_cast<float>(src_size.height - 1), u, v);
        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
    }
    for (int y = 0; y < src_size.height; ++y)
    {
        projector_.mapForward(0, static_cast<float>(y), u, v);
        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);

        projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(y), u, v);
        tl_uf = std::min(tl_uf, u); tl_vf = std::min(tl_vf, v);
        br_uf = std::max(br_uf, u); br_vf = std::max(br_vf, v);
    }

    dst_tl.x = static_cast<int>(tl_uf);
    dst_tl.y = static_cast<int>(tl_vf);
    dst_br.x = static_cast<int>(br_uf);
    dst_br.y = static_cast<int>(br_vf);
}


inline
void PlaneProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    x_ = t[0] + x_ / z_ * (1 - t[2]);
    y_ = t[1] + y_ / z_ * (1 - t[2]);

    u = scale * x_;
    v = scale * y_;
}


inline
void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
{
    u = u / scale - t[0];
    v = v / scale - t[1];

    float z;
    x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2] * (1 - t[2]);
    y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5] * (1 - t[2]);
    z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8] * (1 - t[2]);

    x /= z;
    y /= z;
}


inline
void SphericalProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    u = scale * atan2f(x_, z_);
    float w = y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_);
    v = scale * (static_cast<float>(CV_PI) - acosf(w == w ? w : 0));
}


inline
void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float sinv = sinf(static_cast<float>(CV_PI) - v);
    float x_ = sinv * sinf(u);
    float y_ = cosf(static_cast<float>(CV_PI) - v);
    float z_ = sinv * cosf(u);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}


inline
void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    u = scale * atan2f(x_, z_);
    v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
}


inline
void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float x_ = sinf(u);
    float y_ = v;
    float z_ = cosf(u);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void FisheyeProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    u = scale * v_ * cosf(u_);
    v = scale * v_ * sinf(u_);
}

inline
void FisheyeProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float u_ = atan2f(v, u);
    float v_ = sqrtf(u*u + v*v);

    float sinv = sinf((float)CV_PI - v_);
    float x_ = sinv * sinf(u_);
    float y_ = cosf((float)CV_PI - v_);
    float z_ = sinv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void StereographicProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = (float)CV_PI - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    float r = sinf(v_) / (1 - cosf(v_));

    u = scale * r * cos(u_);
    v = scale * r * sin(u_);
}

inline
void StereographicProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float u_ = atan2f(v, u);
    float r = sqrtf(u*u + v*v);
    float v_ = 2 * atanf(1.f / r);

    float sinv = sinf((float)CV_PI - v_);
    float x_ = sinv * sinf(u_);
    float y_ = cosf((float)CV_PI - v_);
    float z_ = sinv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void CompressedRectilinearProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    u = scale * a * tanf(u_ / a);
    v = scale * b * tanf(v_) / cosf(u_);
}

inline
void CompressedRectilinearProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float aatg = a * atanf(u / a);
    float u_ = aatg;
    float v_ = atanf(v * cosf(aatg) / b);

    float cosv = cosf(v_);
    float x_ = cosv * sinf(u_);
    float y_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void CompressedRectilinearPortraitProjector::mapForward(float x, float y, float &u, float &v)
{
    float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    u = - scale * a * tanf(u_ / a);
    v = scale * b * tanf(v_) / cosf(u_);
}

inline
void CompressedRectilinearPortraitProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= - scale;
    v /= scale;

    float aatg = a * atanf(u / a);
    float u_ = aatg;
    float v_ = atanf(v * cosf( aatg ) / b);

    float cosv = cosf(v_);
    float y_ = cosv * sinf(u_);
    float x_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void PaniniProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    float tg = a * tanf(u_ / a);
    u = scale * tg;

    float sinu = sinf(u_);
    if ( fabs(sinu) < 1E-7 )
        v = scale * b * tanf(v_);
    else
        v = scale * b * tg * tanf(v_) / sinu;
}

inline
void PaniniProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float lamda = a * atanf(u / a);
    float u_ = lamda;

    float v_;
    if ( fabs(lamda) > 1E-7)
        v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda / a)));
    else
        v_ = atanf(v / b);

    float cosv = cosf(v_);
    float x_ = cosv * sinf(u_);
    float y_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void PaniniPortraitProjector::mapForward(float x, float y, float &u, float &v)
{
    float y_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float x_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    float tg = a * tanf(u_ / a);
    u = - scale * tg;

    float sinu = sinf( u_ );
    if ( fabs(sinu) < 1E-7 )
        v = scale * b * tanf(v_);
    else
        v = scale * b * tg * tanf(v_) / sinu;
}

inline
void PaniniPortraitProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= - scale;
    v /= scale;

    float lamda = a * atanf(u / a);
    float u_ = lamda;

    float v_;
    if ( fabs(lamda) > 1E-7)
        v_ = atanf(v * sinf(lamda) / (b * a * tanf(lamda/a)));
    else
        v_ = atanf(v / b);

    float cosv = cosf(v_);
    float y_ = cosv * sinf(u_);
    float x_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void MercatorProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    u = scale * u_;
    v = scale * logf( tanf( (float)(CV_PI/4) + v_/2 ) );
}

inline
void MercatorProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float v_ = atanf( sinhf(v) );
    float u_ = u;

    float cosv = cosf(v_);
    float x_ = cosv * sinf(u_);
    float y_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void TransverseMercatorProjector::mapForward(float x, float y, float &u, float &v)
{
    float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float u_ = atan2f(x_, z_);
    float v_ = asinf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_));

    float B = cosf(v_) * sinf(u_);

    u = scale / 2 * logf( (1+B) / (1-B) );
    v = scale * atan2f(tanf(v_), cosf(u_));
}

inline
void TransverseMercatorProjector::mapBackward(float u, float v, float &x, float &y)
{
    u /= scale;
    v /= scale;

    float v_ = asinf( sinf(v) / coshf(u) );
    float u_ = atan2f( sinhf(u), cos(v) );

    float cosv = cosf(v_);
    float x_ = cosv * sinf(u_);
    float y_ = sinf(v_);
    float z_ = cosv * cosf(u_);

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void SphericalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float x_ = y0_;
    float y_ = x0_;
    float u, v;

    u = scale * atan2f(x_, z_);
    v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));

    u0 = -u;//v;
    v0 = v;//u;
}


inline
void SphericalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
{
    float u, v;
    u = -u0;//v0;
    v = v0;//u0;

    u /= scale;
    v /= scale;

    float sinv = sinf(static_cast<float>(CV_PI) - v);
    float x0_ = sinv * sinf(u);
    float y0_ = cosf(static_cast<float>(CV_PI) - v);
    float z_ = sinv * cosf(u);

    float x_ = y0_;
    float y_ = x0_;

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void CylindricalPortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_  = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float x_ = y0_;
    float y_ = x0_;
    float u, v;

    u = scale * atan2f(x_, z_);
    v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);

    u0 = -u;//v;
    v0 = v;//u;
}


inline
void CylindricalPortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
{
    float u, v;
    u = -u0;//v0;
    v = v0;//u0;

    u /= scale;
    v /= scale;

    float x0_ = sinf(u);
    float y0_ = v;
    float z_  = cosf(u);

    float x_ = y0_;
    float y_ = x0_;

    float z;
    x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
    y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
    z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;

    if (z > 0) { x /= z; y /= z; }
    else x = y = -1;
}

inline
void PlanePortraitProjector::mapForward(float x, float y, float &u0, float &v0)
{
    float x0_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
    float y0_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
    float z_  = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];

    float x_ = y0_;
    float y_ = x0_;

    x_ = t[0] + x_ / z_ * (1 - t[2]);
    y_ = t[1] + y_ / z_ * (1 - t[2]);

    float u,v;
    u = scale * x_;
    v = scale * y_;

    u0 = -u;
    v0 = v;
}


inline
void PlanePortraitProjector::mapBackward(float u0, float v0, float &x, float &y)
{
    float u, v;
    u = -u0;
    v = v0;

    u = u / scale - t[0];
    v = v / scale - t[1];

    float z;
    x = k_rinv[0] * v + k_rinv[1] * u + k_rinv[2] * (1 - t[2]);
    y = k_rinv[3] * v + k_rinv[4] * u + k_rinv[5] * (1 - t[2]);
    z = k_rinv[6] * v + k_rinv[7] * u + k_rinv[8] * (1 - t[2]);

    x /= z;
    y /= z;
}


} // namespace detail
} // namespace cv

//! @endcond

#endif // __OPENCV_STITCHING_WARPERS_INL_HPP__
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root/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp

INCLUDED FROM

DEFINITIONS
