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d/ht: make blackbar work with non-square inputs

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Moses Turner 2021-09-13 19:19:28 -05:00 committed by Jakob Bornecrantz
parent cb7563ecd6
commit ee429ac279
1 changed files with 44 additions and 7 deletions
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51
src/xrt/drivers/ht/ht_image_math.hpp
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@ -17,6 +17,7 @@
#include "ht_driver.hpp"
#include <opencv2/calib3d.hpp>
#include <opencv2/core/matx.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/core/types.hpp>
@ -104,23 +105,59 @@ raycoord(struct ht_view *htv, struct xrt_vec3 model_out)
*/
static cv::Matx23f
blackbar(cv::Mat &in, cv::Mat &out, xrt_vec2_i32 out_size)
blackbar(cv::Mat &in, cv::Mat &out, xrt_size out_size)
{
float aspect_ratio_input = in.cols / in.rows;
float aspect_ratio_output = out_size.x / out_size.y;
#if 1
// Easy to think about, always right, but pretty slow:
// Get a matrix from the original to the scaled down / blackbar'd image, then get one that goes back.
// Then just warpAffine() it.
// More expensive on the computer, but cheap in programmer time - I'm somewhat allergic to thinking in pixel
// coordinates. We can come back and optimize later.
// Do the black bars need to be on top and bottom, or on left and right?
float scale_down_w = (float)out_size.w / (float)in.cols; // 128/1280 = 0.1
float scale_down_h = (float)out_size.h / (float)in.rows; // 128/800 = 0.16
float scale_down = fmin(scale_down_w, scale_down_h); // 0.1
float width_inside = (float)in.cols * scale_down;
float height_inside = (float)in.rows * scale_down;
float translate_x = (out_size.w - width_inside) / 2; // should be 0 for 1280x800
float translate_y = (out_size.h - height_inside) / 2; // should be (1280-800)/2 = 240
cv::Matx23f go;
// clang-format off
go(0,0) = scale_down; go(0,1) = 0.0f; go(0,2) = translate_x;
go(1,0) = 0.0f; go(1,1) = scale_down; go(1,2) = translate_y;
// clang-format on
cv::warpAffine(in, out, go, cv::Size(out_size.w, out_size.h));
cv::Matx23f ret;
// clang-format off
ret(0,0) = 1.0f/scale_down; ret(0,1) = 0.0f; ret(0,2) = -translate_x/scale_down;
ret(1,0) = 0.0f; ret(1,1) = 1.0f/scale_down; ret(1,2) = -translate_y/scale_down;
// clang-format on
return ret;
#else
// Fast, always wrong if the input isn't square. You'd end up using something like this, plus some
// copyMakeBorder if you want to optimize.
if (aspect_ratio_input == aspect_ratio_output) {
cv::resize(in, out, {out_size.x, out_size.y});
cv::resize(in, out, {out_size.w, out_size.h});
cv::Matx23f ret;
float scale_from_out_to_in = (float)in.cols / (float)out_size.x;
float scale_from_out_to_in = (float)in.cols / (float)out_size.w;
// clang-format off
ret(0,0) = scale_from_out_to_in; ret(0,1) = 0.0f; ret(0,2) = 0.0f;
ret(1,0) = 0.0f; ret(1,1) = scale_from_out_to_in; ret(1,2) = 0.0f;
ret(0,0) = scale_from_out_to_in; ret(0,1) = 0.0f; ret(0,2) = 0.0f;
ret(1,0) = 0.0f; ret(1,1) = scale_from_out_to_in; ret(1,2) = 0.0f;
// clang-format on
return ret;
}
assert(!"Uh oh! Unimplemented!");
return {};
#endif
}
/*!