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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
// Copyright (C) 2013, Alfonso Sanchez-Beato, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's 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.
//
// * The name of the copyright holders may not 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 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.
//
//M*/
#ifndef MAPPER_H_
#define MAPPER_H_
#include <opencv2/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar)
#include "map.hpp"
namespace cv {
namespace reg {
//! @addtogroup reg
//! @{
/** @brief Base class for modelling an algorithm for calculating a
The class is only used to define the common interface for any possible mapping algorithm.
*/
class CV_EXPORTS Mapper
{
public:
virtual ~Mapper(void) {}
/*
* Calculate mapping between two images
* \param[in] img1 Reference image
* \param[in] img2 Warped image
* \param[in,out] res Map from img1 to img2, stored in a smart pointer. If present as input,
* it is an initial rough estimation that the mapper will try to refine.
*/
virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const = 0;
/*
* Returns a map compatible with the Mapper class
* \return Pointer to identity Map
*/
virtual cv::Ptr<Map> getMap(void) const = 0;
protected:
/*
* Calculates gradient and difference between images
* \param[in] img1 Image one
* \param[in] img2 Image two
* \param[out] Ix Gradient x-coordinate
* \param[out] Iy Gradient y-coordinate
* \param[out] It Difference of images
*/
void gradient(const cv::Mat& img1, const cv::Mat& img2,
cv::Mat& Ix, cv::Mat& Iy, cv::Mat& It) const;
/*
* Fills matrices with pixel coordinates of an image
* \param[in] img Image
* \param[out] grid_r Row (y-coordinate)
* \param[out] grid_c Column (x-coordinate)
*/
void grid(const Mat& img, Mat& grid_r, Mat& grid_c) const;
/*
* Per-element square of a matrix
* \param[in] mat1 Input matrix
* \return mat1[i,j]^2
*/
cv::Mat sqr(const cv::Mat& mat1) const
{
cv::Mat res;
res.create(mat1.size(), mat1.type());
res = mat1.mul(mat1);
return res;
}
};
//! @}
}} // namespace cv::reg
#endif // MAPPER_H_
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