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_rob_image_homography.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */ |
| 18 | |
| 19 | #ifndef DB_ROB_IMAGE_HOMOGRAPHY |
| 20 | #define DB_ROB_IMAGE_HOMOGRAPHY |
| 21 | |
| 22 | #include "db_utilities.h" |
| 23 | #include "db_robust.h" |
| 24 | #include "db_metrics.h" |
| 25 | |
| 26 | #include <stdlib.h> // for NULL |
| 27 | |
| 28 | |
| 29 | /***************************************************************** |
| 30 | * Lean and mean begins here * |
| 31 | *****************************************************************/ |
| 32 | /*! |
| 33 | * \defgroup LMRobImageHomography (LM) Robust Image Homography |
| 34 | */ |
| 35 | /*\{*/ |
| 36 | |
| 37 | #define DB_HOMOGRAPHY_TYPE_DEFAULT 0 |
| 38 | #define DB_HOMOGRAPHY_TYPE_PROJECTIVE 0 |
| 39 | #define DB_HOMOGRAPHY_TYPE_AFFINE 1 |
| 40 | #define DB_HOMOGRAPHY_TYPE_SIMILARITY 2 |
| 41 | #define DB_HOMOGRAPHY_TYPE_SIMILARITY_U 3 |
| 42 | #define DB_HOMOGRAPHY_TYPE_TRANSLATION 4 |
| 43 | #define DB_HOMOGRAPHY_TYPE_ROTATION 5 |
| 44 | #define DB_HOMOGRAPHY_TYPE_ROTATION_U 6 |
| 45 | #define DB_HOMOGRAPHY_TYPE_SCALING 7 |
| 46 | #define DB_HOMOGRAPHY_TYPE_S_T 8 |
| 47 | #define DB_HOMOGRAPHY_TYPE_R_T 9 |
| 48 | #define DB_HOMOGRAPHY_TYPE_R_S 10 |
| 49 | #define DB_HOMOGRAPHY_TYPE_CAMROTATION 11 |
| 50 | #define DB_HOMOGRAPHY_TYPE_CAMROTATION_F 12 |
| 51 | #define DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD 13 |
| 52 | |
| 53 | /*! |
| 54 | Solve for homography H such that xp~Hx |
| 55 | \param H best homography |
| 56 | |
| 57 | 2D point to 2D point constraints: |
| 58 | |
| 59 | \param im first image points |
| 60 | \param im_p second image points |
| 61 | \param nr_points number of points |
| 62 | |
| 63 | Calibration matrices: |
| 64 | |
| 65 | \param K first camera |
| 66 | \param Kp second camera |
| 67 | |
| 68 | Temporary space: |
| 69 | |
| 70 | \param temp_d pre-allocated space of size 12*nr_samples+10*nr_points doubles |
| 71 | \param temp_i pre-allocated space of size max(nr_samples,nr_points) ints |
| 72 | |
| 73 | Statistics for this estimation |
| 74 | |
| 75 | \param stat NULL - do not compute |
| 76 | |
| 77 | \param homography_type see DB_HOMOGRAPHY_TYPE_* definitions above |
| 78 | |
| 79 | Estimation parameters: |
| 80 | |
| 81 | \param max_iterations max number of polishing steps |
| 82 | \param max_points only use this many points |
| 83 | \param scale Cauchy scale coefficient (see db_ExpCauchyReprojectionError() ) |
| 84 | \param nr_samples number of times to compute a hypothesis |
| 85 | \param chunk_size size of cost chunks |
| 86 | */ |
| 87 | DB_API void db_RobImageHomography( |
| 88 | /*Best homography*/ |
| 89 | double H[9], |
| 90 | /*2DPoint to 2DPoint constraints |
| 91 | Points are assumed to be given in |
| 92 | homogenous coordinates*/ |
| 93 | double *im,double *im_p, |
| 94 | /*Nr of points in total*/ |
| 95 | int nr_points, |
| 96 | /*Calibration matrices |
| 97 | used to normalize the points*/ |
| 98 | double K[9], |
| 99 | double Kp[9], |
| 100 | /*Pre-allocated space temp_d |
| 101 | should point to at least |
| 102 | 12*nr_samples+10*nr_points |
| 103 | allocated positions*/ |
| 104 | double *temp_d, |
| 105 | /*Pre-allocated space temp_i |
| 106 | should point to at least |
| 107 | max(nr_samples,nr_points) |
| 108 | allocated positions*/ |
| 109 | int *temp_i, |
| 110 | int homography_type=DB_HOMOGRAPHY_TYPE_DEFAULT, |
| 111 | db_Statistics *stat=NULL, |
| 112 | int max_iterations=DB_DEFAULT_MAX_ITERATIONS, |
| 113 | int max_points=DB_DEFAULT_MAX_POINTS, |
| 114 | double scale=DB_POINT_STANDARDDEV, |
| 115 | int nr_samples=DB_DEFAULT_NR_SAMPLES, |
| 116 | int chunk_size=DB_DEFAULT_CHUNK_SIZE, |
| 117 | /////////////////////////////////////////////////// |
| 118 | // flag for the outlier removal |
| 119 | int outlierremoveflagE = 0, |
| 120 | // if flag is 1, then the following variables |
| 121 | // need to input |
| 122 | /////////////////////////////////////////////////// |
| 123 | // 3D coordinates |
| 124 | double *wp=NULL, |
| 125 | // its corresponding stereo pair's points |
| 126 | double *im_r=NULL, |
| 127 | // raw image coordinates |
| 128 | double *im_raw=NULL, double *im_raw_p=NULL, |
| 129 | // final matches |
| 130 | int *final_NumE=0); |
| 131 | |
| 132 | DB_API double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i, |
| 133 | double *xp_i,double one_over_scale2); |
| 134 | |
| 135 | |
| 136 | DB_API void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i, |
| 137 | double *xp_i, double one_over_scale2, |
| 138 | int max_iterations=DB_DEFAULT_MAX_ITERATIONS, |
| 139 | double improvement_requirement=DB_DEFAULT_IMP_REQ); |
| 140 | |
| 141 | |
| 142 | DB_API void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type, |
| 143 | double *x_i,double *xp_i,double one_over_scale2, |
| 144 | int max_iterations=DB_DEFAULT_MAX_ITERATIONS, |
| 145 | double improvement_requirement=DB_DEFAULT_IMP_REQ); |
| 146 | |
| 147 | |
| 148 | #endif /* DB_ROB_IMAGE_HOMOGRAPHY */ |