Sascha Haeberling | 8bddf8c | 2013-08-14 11:20:34 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2011 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | /* $Id: db_framestitching.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ |
| 18 | |
| 19 | #ifndef DB_FRAMESTITCHING_H |
| 20 | #define DB_FRAMESTITCHING_H |
| 21 | /*! |
| 22 | * \defgroup FrameStitching Frame Stitching (2D and 3D homography estimation) |
| 23 | */ |
| 24 | /*\{*/ |
| 25 | |
| 26 | |
| 27 | /***************************************************************** |
| 28 | * Lean and mean begins here * |
| 29 | *****************************************************************/ |
| 30 | /*! |
| 31 | * \defgroup LMFrameStitching (LM) Frame Stitching (2D and 3D homography estimation) |
| 32 | */ |
| 33 | /*\{*/ |
| 34 | |
| 35 | /*! |
| 36 | Find scale, rotation and translation of the similarity that |
| 37 | takes the nr_points inhomogenous 3D points X to Xp |
| 38 | (left to right according to Horn), i.e. for the homogenous equivalents |
| 39 | Xp and X we would have |
| 40 | \code |
| 41 | Xp~ |
| 42 | [sR t]*X |
| 43 | [0 1] |
| 44 | \endcode |
| 45 | If orientation_preserving is true, R is restricted such that det(R)>0. |
| 46 | allow_scaling, allow_rotation and allow_translation allow s,R and t |
| 47 | to differ from 1,Identity and 0 |
| 48 | |
| 49 | Full similarity takes the following on 550MHz: |
| 50 | \code |
| 51 | 4.5 microseconds with 3 points |
| 52 | 4.7 microseconds with 4 points |
| 53 | 5.0 microseconds with 5 points |
| 54 | 5.2 microseconds with 6 points |
| 55 | 5.8 microseconds with 10 points |
| 56 | 20 microseconds with 100 points |
| 57 | 205 microseconds with 1000 points |
| 58 | 2.9 milliseconds with 10000 points |
| 59 | 50 milliseconds with 100000 points |
| 60 | 0.5 seconds with 1000000 points |
| 61 | \endcode |
| 62 | Without orientation_preserving: |
| 63 | \code |
| 64 | 4 points is minimal for (s,R,t) (R,t) |
| 65 | 3 points is minimal for (s,R) (R) |
| 66 | 2 points is minimal for (s,t) |
| 67 | 1 point is minimal for (s) (t) |
| 68 | \endcode |
| 69 | With orientation_preserving: |
| 70 | \code |
| 71 | 3 points is minimal for (s,R,t) (R,t) |
| 72 | 2 points is minimal for (s,R) (s,t) (R) |
| 73 | 1 point is minimal for (s) (t) |
| 74 | \endcode |
| 75 | |
| 76 | \param scale scale |
| 77 | \param R rotation |
| 78 | \param t translation |
| 79 | \param Xp inhomogenouse 3D points in first coordinate system |
| 80 | \param X inhomogenouse 3D points in second coordinate system |
| 81 | \param nr_points number of points |
| 82 | \param orientation_preserving if true, R is restricted such that det(R)>0. |
| 83 | \param allow_scaling estimate scale |
| 84 | \param allow_rotation estimate rotation |
| 85 | \param allow_translation estimate translation |
| 86 | */ |
| 87 | DB_API void db_StitchSimilarity3DRaw(double *scale,double R[9],double t[3], |
| 88 | double **Xp,double **X,int nr_points,int orientation_preserving=1, |
| 89 | int allow_scaling=1,int allow_rotation=1,int allow_translation=1); |
| 90 | |
| 91 | |
| 92 | /*\}*/ |
| 93 | |
| 94 | #endif /* DB_FRAMESTITCHING_H */ |