facebook开源全景投影转换Transform360

/** * Copyright (c) 2015-present, Facebook, Inc. * All rights reserved. * * This source code is licensed under the license found in the * LICENSE file in the root directory of this source tree. */ /** * This software contains some transform algorithms to transform * equirectangular panorama video frames to cubemap images */ #pragma once #include "VideoFrameTransformHelper.h" #include <map> #include <string> #include <thread> #include <vector> #include <opencv2/opencv.hpp> struct SegmentFilteringConfig { SegmentFilteringConfig( int inputLeft, int inputTop, int inputWidth, int inputHeight) { left = inputLeft; top = inputTop; width = inputWidth; height = inputHeight; } int left, top, width, height; }; class VideoFrameTransform { public: explicit VideoFrameTransform(FrameTransformContext* ctx); bool generateMapForPlane( int inputWidth, int inputHeight, int outputWidth, int outputHeight, int transformMatPlaneIndex); bool transformPlane( const cv::Mat& inputMat, cv::Mat& outputMat, int outputWidth, int outputHeight, int transformMatPlaneIndex, int imagePlaneIndex); /// Transform API function for C bool transformFramePlane( uint8_t* inputData, uint8_t* outputData, int inputWidth, int inputHeight, int inputWidthWithPadding, int outputWidth, int outputHeight, int outputWidthWithPadding, int transformMatPlaneIndex, int imagePlaneIndex); private: // Transforms normalized 3D vector to 2d cubemap coordinates void transformCubeFacePos( float tx, float ty, float tz, float *outX, float *outY); // Transforms 3D vector to the input 2d coordinates // Only supports CUBEMAP_32 and EQUIRECT formats void transformInputPos( float tx, float ty, float tz, float inputPixelWidth, float* outX, float* outY); bool transformPos( float x, float y, float* outX, float* outY, int transformMatPlaneIndex, float inputPixelWidth); cv::Mat filterPlane( const cv::Mat& inputMat, int transformMatPlaneIndex, int imagePlaneIndex); void calcualteFilteringConfig( int inputWidth, int inputHeight, int outputWidth, int outputHeight, int transformMatPlaneIndex); void filterSegment( const cv::Mat& inputMat, cv::Mat& outputMat, const cv::Mat& kernelX, const cv::Mat& kernelY, int left, int top, int width, int height, int imagePlaneIndex); void generateKernelsAndFilteringConfigs( int startTop, int startBottom, float sigmaY, const cv::Mat& kernelY, int baseSegmentHeight, int inputWidth, int inputHeight, int transformMatPlaneIndex); void generateKernelAndFilteringConfig( int top, int bottom, float angle, float sigmaY, const cv::Mat& kernelY, int inputWidth, int inputHeight, int transformMatPlaneIndex); void runFiltering( const cv::Mat& inputMat, cv::Mat& blurredPlane, int transformMatPlaneIndex, int imagePlaneIndex, int leftOffset, int topOffset, std::vector<std::thread>& segmentFilteringThreads); FrameTransformContext ctx_; /// Map of <transformMatPlaneIndex, transform mat> std::map<int, cv::Mat> warpMats_; /// Map of <transformMatPlaneIndex, vector of 1D filter kernels /// along X (horizontal) direction> for filtering frame plane /// Same for Y (vertical) direction std::map<int, std::vector<cv::Mat>> filterKernelsX_, filterKernelsY_; /// Map of <transformMatPlaneIndex, vector of config parameters> /// for filtering frame plane std::map<int, std::vector<SegmentFilteringConfig>> segmentFilteringConfigs_; };