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  #include "precomp.hpp"
  
  using namespace std;
  
  namespace cv {
  namespace detail {
  
  void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
  {
      CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
      CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
      CV_Assert((T.size() == Size(1, 3) || T.size() == Size(3, 1)) && T.type() == CV_32F);
  
      Mat_<float> K_(K);
      k[0] = K_(0,0); k[1] = K_(0,1); k[2] = K_(0,2);
      k[3] = K_(1,0); k[4] = K_(1,1); k[5] = K_(1,2);
      k[6] = K_(2,0); k[7] = K_(2,1); k[8] = K_(2,2);
  
      Mat_<float> Rinv = R.t();
      rinv[0] = Rinv(0,0); rinv[1] = Rinv(0,1); rinv[2] = Rinv(0,2);
      rinv[3] = Rinv(1,0); rinv[4] = Rinv(1,1); rinv[5] = Rinv(1,2);
      rinv[6] = Rinv(2,0); rinv[7] = Rinv(2,1); rinv[8] = Rinv(2,2);
  
      Mat_<float> R_Kinv = R * K.inv();
      r_kinv[0] = R_Kinv(0,0); r_kinv[1] = R_Kinv(0,1); r_kinv[2] = R_Kinv(0,2);
      r_kinv[3] = R_Kinv(1,0); r_kinv[4] = R_Kinv(1,1); r_kinv[5] = R_Kinv(1,2);
      r_kinv[6] = R_Kinv(2,0); r_kinv[7] = R_Kinv(2,1); r_kinv[8] = R_Kinv(2,2);
  
      Mat_<float> K_Rinv = K * Rinv;
      k_rinv[0] = K_Rinv(0,0); k_rinv[1] = K_Rinv(0,1); k_rinv[2] = K_Rinv(0,2);
      k_rinv[3] = K_Rinv(1,0); k_rinv[4] = K_Rinv(1,1); k_rinv[5] = K_Rinv(1,2);
      k_rinv[6] = K_Rinv(2,0); k_rinv[7] = K_Rinv(2,1); k_rinv[8] = K_Rinv(2,2);
  
      Mat_<float> T_(T.reshape(0, 3));
      t[0] = T_(0,0); t[1] = T_(1,0); t[2] = T_(2,0);
  }
  
  
  Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T)
  {
      projector_.setCameraParams(K, R, T);
      Point2f uv;
      projector_.mapForward(pt.x, pt.y, uv.x, uv.y);
      return uv;
  }
  
  
  Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
  {
      projector_.setCameraParams(K, R, T);
  
      Point dst_tl, dst_br;
      detectResultRoi(src_size, dst_tl, dst_br);
  
      xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
      ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
  
      float x, y;
      for (int v = dst_tl.y; v <= dst_br.y; ++v)
      {
          for (int u = dst_tl.x; u <= dst_br.x; ++u)
          {
              projector_.mapBackward(static_cast<float>(u), static_cast<float>(v), x, y);
              xmap.at<float>(v - dst_tl.y, u - dst_tl.x) = x;
              ymap.at<float>(v - dst_tl.y, u - dst_tl.x) = y;
          }
      }
  
      return Rect(dst_tl, dst_br);
  }
  
  
  Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
                          Mat &dst)
  {
      Mat xmap, ymap;
      Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap);
  
      dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
      remap(src, dst, xmap, ymap, interp_mode, border_mode);
  
      return dst_roi.tl();
  }
  
  
  Rect PlaneWarper::warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T)
  {
      projector_.setCameraParams(K, R, T);
  
      Point dst_tl, dst_br;
      detectResultRoi(src_size, dst_tl, dst_br);
  
      return Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1));
  }
  
  
  void PlaneWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
  {
      float tl_uf = numeric_limits<float>::max();
      float tl_vf = numeric_limits<float>::max();
      float br_uf = -numeric_limits<float>::max();
      float br_vf = -numeric_limits<float>::max();
  
      float u, v;
  
      projector_.mapForward(0, 0, u, v);
      tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
      br_uf = max(br_uf, u); br_vf = max(br_vf, v);
  
      projector_.mapForward(0, static_cast<float>(src_size.height - 1), u, v);
      tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
      br_uf = max(br_uf, u); br_vf = max(br_vf, v);
  
      projector_.mapForward(static_cast<float>(src_size.width - 1), 0, u, v);
      tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
      br_uf = max(br_uf, u); br_vf = max(br_vf, v);
  
      projector_.mapForward(static_cast<float>(src_size.width - 1), static_cast<float>(src_size.height - 1), u, v);
      tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
      br_uf = max(br_uf, u); br_vf = max(br_vf, v);
  
      dst_tl.x = static_cast<int>(tl_uf);
      dst_tl.y = static_cast<int>(tl_vf);
      dst_br.x = static_cast<int>(br_uf);
      dst_br.y = static_cast<int>(br_vf);
  }
  
  
  void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
  {
      detectResultRoiByBorder(src_size, dst_tl, dst_br);
  
      float tl_uf = static_cast<float>(dst_tl.x);
      float tl_vf = static_cast<float>(dst_tl.y);
      float br_uf = static_cast<float>(dst_br.x);
      float br_vf = static_cast<float>(dst_br.y);
  
      float x = projector_.rinv[1];
      float y = projector_.rinv[4];
      float z = projector_.rinv[7];
      if (y > 0.f)
      {
          float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
          float y_ = projector_.k[4] * y / z + projector_.k[5];
          if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
          {
              tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
              br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
          }
      }
  
      x = projector_.rinv[1];
      y = -projector_.rinv[4];
      z = projector_.rinv[7];
      if (y > 0.f)
      {
          float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
          float y_ = projector_.k[4] * y / z + projector_.k[5];
          if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
          {
              tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
              br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
          }
      }
  
      dst_tl.x = static_cast<int>(tl_uf);
      dst_tl.y = static_cast<int>(tl_vf);
      dst_br.x = static_cast<int>(br_uf);
      dst_br.y = static_cast<int>(br_vf);
  }
  
  
  #ifdef HAVE_OPENCV_GPU
  Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
  {
      return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
  }
  
  Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
  {
      projector_.setCameraParams(K, R, T);
  
      Point dst_tl, dst_br;
      detectResultRoi(src_size, dst_tl, dst_br);
  
      gpu::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
                              K, R, T, projector_.scale, xmap, ymap);
  
      return Rect(dst_tl, dst_br);
  }
  
  Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
                             gpu::GpuMat &dst)
  {
      return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
  }
  
  
  Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
                             gpu::GpuMat &dst)
  {
      Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
      dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
      gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
      return dst_roi.tl();
  }
  
  
  Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
  {
      projector_.setCameraParams(K, R);
  
      Point dst_tl, dst_br;
      detectResultRoi(src_size, dst_tl, dst_br);
  
      gpu::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
                                  K, R, projector_.scale, xmap, ymap);
  
      return Rect(dst_tl, dst_br);
  }
  
  
  Point SphericalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
                                 gpu::GpuMat &dst)
  {
      Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
      dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
      gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
      return dst_roi.tl();
  }
  
  
  Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
  {
      projector_.setCameraParams(K, R);
  
      Point dst_tl, dst_br;
      detectResultRoi(src_size, dst_tl, dst_br);
  
      gpu::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
                                    K, R, projector_.scale, xmap, ymap);
  
      return Rect(dst_tl, dst_br);
  }
  
  
  Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
                                   gpu::GpuMat &dst)
  {
      Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
      dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
      gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
      return dst_roi.tl();
  }
  #endif
  
  void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
  {
      detectResultRoiByBorder(src_size, dst_tl, dst_br);
  
      float tl_uf = static_cast<float>(dst_tl.x);
      float tl_vf = static_cast<float>(dst_tl.y);
      float br_uf = static_cast<float>(dst_br.x);
      float br_vf = static_cast<float>(dst_br.y);
  
      float x = projector_.rinv[0];
      float y = projector_.rinv[3];
      float z = projector_.rinv[6];
      if (y > 0.f)
      {
          float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
          float y_ = projector_.k[4] * y / z + projector_.k[5];
          if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
          {
              tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
              br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
          }
      }
  
      x = projector_.rinv[0];
      y = -projector_.rinv[3];
      z = projector_.rinv[6];
      if (y > 0.f)
      {
          float x_ = (projector_.k[0] * x + projector_.k[1] * y) / z + projector_.k[2];
          float y_ = projector_.k[4] * y / z + projector_.k[5];
          if (x_ > 0.f && x_ < src_size.width && y_ > 0.f && y_ < src_size.height)
          {
              tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
              br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
          }
      }
  
      dst_tl.x = static_cast<int>(tl_uf);
      dst_tl.y = static_cast<int>(tl_vf);
      dst_br.x = static_cast<int>(br_uf);
      dst_br.y = static_cast<int>(br_vf);
  }
  
  } // namespace detail
  } // namespace cv
  