/home/slang/XVision2/src/Tools/XVOmniWarper.h Source File

00001 // *** BEGIN_XVISION2_COPYRIGHT_NOTICE ***
00002 // *** END_XVISION2_COPYRIGHT_NOTICE ***
00003 
00004 # ifndef _XVOMNIWARPER_H_
00005 # define _XVOMNIWARPER_H_
00006 
00007 struct XVOmniWarper {
00008   static int defCenterX ;
00009   static int defCenterY ;
00010   static int defHorizon ;
00011 
00012   int centerX ;     // x co-ordinate of mirror center on image
00013   int centerY ;     // y co-ordinate of mirror center on image
00014   int horizon ;     // distance on image from center to horizon
00015 
00016   XVOmniWarper() : centerX(defCenterX), centerY(defCenterY), 
00017     horizon(defHorizon) {}
00018 
00019 /*
00020   This omni2plane function unwarps an image obtained by omni-camera to a plane 
00021   image by geometric transformation. Some of the code is due to Sang-Chul Lee.
00022 */
00023 
00024 /* Parameters --
00025    source:            input image ;
00026    nwidth, nheight:   dimensions of desired output image width ;
00027    xd, yd:            coordinates of a point on the input image as direction ;
00028    k:                 re-sampling factor ;
00029    Returns --         output image ;
00030 */
00031 
00032   template<class XVImage>
00033   XVImage omni2plane( const XVImage& source, int nwidth, int nheight, 
00034                 int xd, int yd, double k = 1.0 ) const ;
00035 
00036 /* Parameters --
00037    source:            input image ;
00038    nwidth, nheight:   dimensions of desired output image width ;
00039    theta, phai:       direction ;
00040    k:                 re-sampling factor ;
00041    Returns --         output image ;
00042 */
00043 
00044   template<class XVImage>
00045   XVImage omni2plane( const XVImage& source, int nwidth, int nheight, 
00046                 double theta, double phai, double k = 1.0 ) const ;
00047 
00048 };
00049 
00050 # endif //_XVOMNIWARPER_H_