Name
gen_cube_map_mosaicT_gen_cube_map_mosaicGenCubeMapMosaicgen_cube_map_mosaicGenCubeMapMosaicGenCubeMapMosaic — Create 6 cube map images of a spherical mosaic.
Herror T_gen_cube_map_mosaic(const Hobject Images, Hobject* Front, Hobject* Rear, Hobject* Left, Hobject* Right, Hobject* Top, Hobject* Bottom, const Htuple CameraMatrices, const Htuple RotationMatrices, const Htuple CubeMapDimension, const Htuple StackingOrder, const Htuple Interpolation)
Herror gen_cube_map_mosaic(Hobject Images, Hobject* Front, Hobject* Rear, Hobject* Left, Hobject* Right, Hobject* Top, Hobject* Bottom, const HTuple& CameraMatrices, const HTuple& RotationMatrices, const HTuple& CubeMapDimension, const HTuple& StackingOrder, const HTuple& Interpolation)
HImage HImageArray::GenCubeMapMosaic(HImage* Rear, HImage* Left, HImage* Right, HImage* Top, HImage* Bottom, const HTuple& CameraMatrices, const HTuple& RotationMatrices, const HTuple& CubeMapDimension, const HTuple& StackingOrder, const HTuple& Interpolation) const
void GenCubeMapMosaic(const HObject& Images, HObject* Front, HObject* Rear, HObject* Left, HObject* Right, HObject* Top, HObject* Bottom, const HTuple& CameraMatrices, const HTuple& RotationMatrices, const HTuple& CubeMapDimension, const HTuple& StackingOrder, const HTuple& Interpolation)
HImage HImage::GenCubeMapMosaic(HImage* Rear, HImage* Left, HImage* Right, HImage* Top, HImage* Bottom, const HHomMat2DArray& CameraMatrices, const HHomMat2DArray& RotationMatrices, Hlong CubeMapDimension, const HTuple& StackingOrder, const HString& Interpolation) const
HImage HImage::GenCubeMapMosaic(HImage* Rear, HImage* Left, HImage* Right, HImage* Top, HImage* Bottom, const HHomMat2DArray& CameraMatrices, const HHomMat2DArray& RotationMatrices, Hlong CubeMapDimension, const HString& StackingOrder, const HString& Interpolation) const
HImage HImage::GenCubeMapMosaic(HImage* Rear, HImage* Left, HImage* Right, HImage* Top, HImage* Bottom, const HHomMat2DArray& CameraMatrices, const HHomMat2DArray& RotationMatrices, Hlong CubeMapDimension, const char* StackingOrder, const char* Interpolation) const
void HOperatorSetX.GenCubeMapMosaic(
[in] IHUntypedObjectX* Images, [out] IHUntypedObjectX** Front, [out] IHUntypedObjectX** Rear, [out] IHUntypedObjectX** Left, [out] IHUntypedObjectX** Right, [out] IHUntypedObjectX** Top, [out] IHUntypedObjectX** Bottom, [in] VARIANT CameraMatrices, [in] VARIANT RotationMatrices, [in] VARIANT CubeMapDimension, [in] VARIANT StackingOrder, [in] VARIANT Interpolation)
IHImageX* HImageX.GenCubeMapMosaic(
[out] IHImageX** Rear, [out] IHImageX** Left, [out] IHImageX** Right, [out] IHImageX** Top, [out] IHImageX** Bottom, [in] IHHomMat2DX* CameraMatrices, [in] IHHomMat2DX* RotationMatrices, [in] Hlong CubeMapDimension, [in] VARIANT StackingOrder, [in] BSTR Interpolation)
static void HOperatorSet.GenCubeMapMosaic(HObject images, out HObject front, out HObject rear, out HObject left, out HObject right, out HObject top, out HObject bottom, HTuple cameraMatrices, HTuple rotationMatrices, HTuple cubeMapDimension, HTuple stackingOrder, HTuple interpolation)
HImage HImage.GenCubeMapMosaic(out HImage rear, out HImage left, out HImage right, out HImage top, out HImage bottom, HHomMat2D[] cameraMatrices, HHomMat2D[] rotationMatrices, int cubeMapDimension, HTuple stackingOrder, string interpolation)
HImage HImage.GenCubeMapMosaic(out HImage rear, out HImage left, out HImage right, out HImage top, out HImage bottom, HHomMat2D[] cameraMatrices, HHomMat2D[] rotationMatrices, int cubeMapDimension, string stackingOrder, string interpolation)
gen_cube_map_mosaicgen_cube_map_mosaicGenCubeMapMosaicgen_cube_map_mosaicGenCubeMapMosaicGenCubeMapMosaic creates 6 cube map images of a spherical
mosaic FrontFrontFrontFrontFrontfront, LeftLeftLeftLeftLeftleft, RearRearRearRearRearrear, RightRightRightRightRightright,
TopTopTopTopToptop and BottomBottomBottomBottomBottombottom from the input images passed in
ImagesImagesImagesImagesImagesimages. The pose of the images in space, which is used to
compute the position of the images with respect to the surface of
the sphere, can be determined with
stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration. The camera and rotation
matrices computed with stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration
can be used in CameraMatricesCameraMatricesCameraMatricesCameraMatricesCameraMatricescameraMatrices and
RotationMatricesRotationMatricesRotationMatricesRotationMatricesRotationMatricesrotationMatrices. A spherical mosaic can only be created
from images that were taken with a stationary camera (see
stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration).
The width and height of the output cube map images can be selected by
setting the parameter CubeMapDimensionCubeMapDimensionCubeMapDimensionCubeMapDimensionCubeMapDimensioncubeMapDimension. The value represents
the width and height in pixels.
The mode in which the images are added to the mosaic is given by
StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder. For StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder =
'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi", the points in the mosaic image are determined
from the Voronoi cell of the respective input image. This means
that the gray values are taken from the points of the input image to
whose center the pixel in the mosaic image has the smallest distance
on the sphere. This mode has the advantage that vignetting and
uncorrected radial distortions are less noticeable in the mosaic
image because they typically are symmetric with respect to the image
center. Alternatively, with the choice of parameters described
in the following, a mode can be selected that has the same
effect as if the images were painted successively into the mosaic
image. Here, the order in which the images are added to the mosaic
image is important. Therefore, an array of integer values can be
passed in StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder. The first index in this array
will end up at the bottom of the image stack while the last one will
be on top. If 'default'"default""default""default""default""default" is given instead of an array of
integers, the canonical order (images in the order used in
ImagesImagesImagesImagesImagesimages) will be used. Hence, if neither 'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi"
nor 'default'"default""default""default""default""default" are used, StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder must contain
a permutation of the numbers 1,...,n, where n is the number of
images passed in ImagesImagesImagesImagesImagesimages. It should be noted that the mode
'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi" cannot always be used. For example, at least
two images must be passed to use this mode. Furthermore, for very
special configurations of the positions of the image centers on the
sphere, the Voronoi cells cannot be determined uniquely. With
StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder = 'blend'"blend""blend""blend""blend""blend", an additional mode is
available, which blends the images of the mosaic smoothly. This way seams
between the images become less apparent. The seam lines between the images
are the same as in 'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi". This mode leads to visually more
appealing images, but requires significantly more resources. If the
mode 'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi" or 'blend'"blend""blend""blend""blend""blend" cannot be used for whatever
reason the mode is switched internally to 'default'"default""default""default""default""default" automatically.
The parameter InterpolationInterpolationInterpolationInterpolationInterpolationinterpolation selects the desired interpolation mode
for creating the cube maps. 'bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear" and 'bicubic'"bicubic""bicubic""bicubic""bicubic""bicubic"
interpolation is available for all modes of StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder.
'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor" is only available if StackingOrderStackingOrderStackingOrderStackingOrderStackingOrderstackingOrder is
set to 'default'"default""default""default""default""default" or 'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi".
- Multithreading type: reentrant (runs in parallel with non-exclusive operators).
- Multithreading scope: global (may be called from any thread).
- Processed without parallelization.
(Array of) 3x3 projective
camera matrices that determine the internal
camera parameters.
Array of 3x3
transformation matrices that determine
rotation of the camera in the respective
image.
Width and height of the resulting cube maps.
Default value: 1000
Restriction: CubeMapDimension >= 0
Mode of adding the images to the mosaic image.
Default value:
'voronoi'
"voronoi"
"voronoi"
"voronoi"
"voronoi"
"voronoi"
Suggested values: 'blend'"blend""blend""blend""blend""blend", 'voronoi'"voronoi""voronoi""voronoi""voronoi""voronoi", 'default'"default""default""default""default""default"
Mode of image interpolation.
Default value:
'bilinear'
"bilinear"
"bilinear"
"bilinear"
"bilinear"
"bilinear"
Suggested values: 'nearest_neighbor'"nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor""nearest_neighbor", 'bilinear'"bilinear""bilinear""bilinear""bilinear""bilinear", 'bicubic'"bicubic""bicubic""bicubic""bicubic""bicubic"
* For the input data to stationary_camera_self_calibration, please
* refer to the example for stationary_camera_self_calibration.
stationary_camera_self_calibration (4, 640, 480, 1, From, To, \
HomMatrices2D, Rows1, Cols1, \
Rows2, Cols2, NumMatches, \
'gold_standard', \
['focus','principal_point'], \
'true', CameraMatrix, Kappa, \
RotationMatrices, X, Y, Z, Error)
gen_cube_map_mosaic (Images, Front, Left, Rear, Right, Top, Bottom, \
CameraMatrix, RotationMatrices, 1000, 'default', \
'bicubic')
* Alternatively, if kappa should be determined, the following calls
* can be made:
stationary_camera_self_calibration (4, 640, 480, 1, From, To, \
HomMatrices2D, Rows1, Cols1, \
Rows2, Cols2, NumMatches, \
'gold_standard', \
['focus','principal_point','kappa'], \
'true', CameraMatrix, Kappa, \
RotationMatrices, X, Y, Z, Error)
cam_mat_to_cam_par (CameraMatrix, Kappa, 640, 480, CamParam)
change_radial_distortion_cam_par ('fixed', CamParam, 0, CamParOut)
gen_radial_distortion_map (Map, CamParam, CamParOut, 'bilinear')
map_image (Images, Map, ImagesRect)
gen_cube_map_mosaic (Images, Front, Left, Rear, Right, Top, Bottom, \
CameraMatrix, RotationMatrices, 1000, 'default', \
'bicubic')
If the parameters are valid, the operator
gen_cube_map_mosaicgen_cube_map_mosaicGenCubeMapMosaicgen_cube_map_mosaicGenCubeMapMosaicGenCubeMapMosaic returns the value 2 (H_MSG_TRUE). If necessary
an exception is raised.
stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration
gen_spherical_mosaicgen_spherical_mosaicGenSphericalMosaicgen_spherical_mosaicGenSphericalMosaicGenSphericalMosaic,
gen_projective_mosaicgen_projective_mosaicGenProjectiveMosaicgen_projective_mosaicGenProjectiveMosaicGenProjectiveMosaic
Lourdes Agapito, E. Hayman, I. Reid: “Self-Calibration of Rotating
and Zooming Cameras”; International Journal of Computer Vision;
vol. 45, no. 2; pp. 107--127; 2001.
Olivier Faugeras, Quang-Tuan Luong: “The Geometry of Multiple
Images: The Laws That Govern the Formation of Multiple Images of a
Scene and Some of Their Applications”; MIT Press, Cambridge, MA;
2001.
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