Пример #1
0
void UndistortImage(
    const Image& imageIn,
    const IntrinsicBase * cam,
    Image & image_ud,
    typename Image::Tpixel fillcolor = typename Image::Tpixel(0))
{
    if (!cam->have_disto()) // no distortion, perform a direct copy
    {
        image_ud = imageIn;
    }
    else // There is distortion
    {
        image_ud.resize(imageIn.Width(), imageIn.Height(), true, fillcolor);
        const image::Sampler2d<image::SamplerLinear> sampler;
#ifdef OPENMVG_USE_OPENMP
        #pragma omp parallel for
#endif
        for (int j = 0; j < imageIn.Height(); ++j)
            for (int i = 0; i < imageIn.Width(); ++i)
            {
                const Vec2 undisto_pix(i,j);
                // compute coordinates with distortion
                const Vec2 disto_pix = cam->get_d_pixel(undisto_pix);
                // pick pixel if it is in the image domain
                if ( imageIn.Contains(disto_pix(1), disto_pix(0)) )
                    image_ud( j, i ) = sampler(imageIn, disto_pix(1), disto_pix(0));
            }
    }
}
Пример #2
0
void Warp(const Image &im, const Mat3 & H, Image &out)
{
    const int wOut = static_cast<int>(out.Width());
    const int hOut = static_cast<int>(out.Height());

    for (int j = 0; j < hOut; ++j)
#ifdef USE_OPENMP
        #pragma omp parallel for
#endif
        for (int i = 0; i < wOut; ++i)
        {
            double xT = i, yT = j;
            if (ApplyH_AndCheckOrientation(H, xT, yT)
                    && im.Contains(yT,xT))
                out(j,i) = SampleLinear(im, (float)yT, (float)xT);
        }
}