84 lines
2.9 KiB
C
84 lines
2.9 KiB
C
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#ifndef HOMOGRAPHY_H
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#define HOMOGRAPHY_H
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#include "matrix.h"
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namespace libNumerics {
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/// 2-D homography transform.
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class Homography {
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public:
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Homography();
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void setId();
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void setTrans(double dx, double dy);
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void setZoom(double zx, double zy);
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matrix<double>& mat() { return m_H; }
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const matrix<double>& mat() const { return m_H; }
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void operator()(double& x, double& y) const;
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Homography operator*(const Homography& rhs) const;
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Homography inverse() const;
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private:
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matrix<double> m_H;
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void normalize();
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};
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/// Homography (and more restricted transforms) estimation.
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class ComputeH {
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public:
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enum Type { Translation, // (2 parameters)
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Rotation, // Rotation/Translation (3 parameters)
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Zoom, // Zoom/Translation (3 parameters)
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GeneralZoom, // Non uniform zoom/Translation (4 parameters)
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Similarity, // Zoom/Rotation/Translation (4 parameters)
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Affine, // (6 parameters)
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Projective // (8 parameters)
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};
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static Type restrict(Type t); // Return less general motion
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public:
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ComputeH(Type type);
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~ComputeH();
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Type type() const { return _type; }
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void clear();
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/// Add corresponding points (x1,y1) and (x2,y2)
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void add(float x1, float y1, float x2, float y2, float w = 1.0f);
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/// Add corresponding lines of equation u x + v y + w = 0
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void add(float a1, float b1, float c1,
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float a2, float b2, float c2, float w = 1.0f);
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float weight() const; ///< Sum of weights (=#correspondences)
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float q_error(const Homography& map) const; ///< Quadratic error
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float compute(Homography& map) const; ///< LSE motion, return support weight
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private:
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Type _type;
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int n; ///< Dimension of matrix = # unknown parameters
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double Ann[64], Bn[8], b; // Min (X 1) (A B) (X 1)^T is X^T = Ann^-1 Bn
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static int size(Type type);
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void add_4parameters(float x1, float y1, float x2, float y2, float w);
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void add_4parameters(float a1, float b1, float c1,
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float a2, float b2, float c2, float w);
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void wrap(Homography& map, const vector<double>& v) const;
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void unwrap(const Homography& map, vector<double>& v) const;
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float q_error(const vector<double>& v) const; // Quadratic error
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bool compute_rotation(vector<double>& B) const;
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/// For Projective, data normalization is required
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class Normalization { public: double x, y, s; };
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bool normalize(Normalization& left,
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matrix<double>& A, vector<double>& B,
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Normalization& right) const;
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static bool de_normalize(const Normalization& left,
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vector<double>& B,
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const Normalization& right);
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};
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} // libNumerics
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#endif
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