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/*
* Copyright (C) 2011 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/* $Id: db_rob_image_homography.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */
#ifndef DB_ROB_IMAGE_HOMOGRAPHY
#define DB_ROB_IMAGE_HOMOGRAPHY
#include "db_utilities.h"
#include "db_robust.h"
#include "db_metrics.h"
#include <stdlib.h> // for NULL
/*****************************************************************
* Lean and mean begins here *
*****************************************************************/
/*!
* \defgroup LMRobImageHomography (LM) Robust Image Homography
*/
/*\{*/
#define DB_HOMOGRAPHY_TYPE_DEFAULT 0
#define DB_HOMOGRAPHY_TYPE_PROJECTIVE 0
#define DB_HOMOGRAPHY_TYPE_AFFINE 1
#define DB_HOMOGRAPHY_TYPE_SIMILARITY 2
#define DB_HOMOGRAPHY_TYPE_SIMILARITY_U 3
#define DB_HOMOGRAPHY_TYPE_TRANSLATION 4
#define DB_HOMOGRAPHY_TYPE_ROTATION 5
#define DB_HOMOGRAPHY_TYPE_ROTATION_U 6
#define DB_HOMOGRAPHY_TYPE_SCALING 7
#define DB_HOMOGRAPHY_TYPE_S_T 8
#define DB_HOMOGRAPHY_TYPE_R_T 9
#define DB_HOMOGRAPHY_TYPE_R_S 10
#define DB_HOMOGRAPHY_TYPE_CAMROTATION 11
#define DB_HOMOGRAPHY_TYPE_CAMROTATION_F 12
#define DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD 13
/*!
Solve for homography H such that xp~Hx
\param H best homography
2D point to 2D point constraints:
\param im first image points
\param im_p second image points
\param nr_points number of points
Calibration matrices:
\param K first camera
\param Kp second camera
Temporary space:
\param temp_d pre-allocated space of size 12*nr_samples+10*nr_points doubles
\param temp_i pre-allocated space of size max(nr_samples,nr_points) ints
Statistics for this estimation
\param stat NULL - do not compute
\param homography_type see DB_HOMOGRAPHY_TYPE_* definitions above
Estimation parameters:
\param max_iterations max number of polishing steps
\param max_points only use this many points
\param scale Cauchy scale coefficient (see db_ExpCauchyReprojectionError() )
\param nr_samples number of times to compute a hypothesis
\param chunk_size size of cost chunks
*/
DB_API void db_RobImageHomography(
/*Best homography*/
double H[9],
/*2DPoint to 2DPoint constraints
Points are assumed to be given in
homogenous coordinates*/
double *im,double *im_p,
/*Nr of points in total*/
int nr_points,
/*Calibration matrices
used to normalize the points*/
double K[9],
double Kp[9],
/*Pre-allocated space temp_d
should point to at least
12*nr_samples+10*nr_points
allocated positions*/
double *temp_d,
/*Pre-allocated space temp_i
should point to at least
max(nr_samples,nr_points)
allocated positions*/
int *temp_i,
int homography_type=DB_HOMOGRAPHY_TYPE_DEFAULT,
db_Statistics *stat=NULL,
int max_iterations=DB_DEFAULT_MAX_ITERATIONS,
int max_points=DB_DEFAULT_MAX_POINTS,
double scale=DB_POINT_STANDARDDEV,
int nr_samples=DB_DEFAULT_NR_SAMPLES,
int chunk_size=DB_DEFAULT_CHUNK_SIZE,
///////////////////////////////////////////////////
// flag for the outlier removal
int outlierremoveflagE = 0,
// if flag is 1, then the following variables
// need to input
///////////////////////////////////////////////////
// 3D coordinates
double *wp=NULL,
// its corresponding stereo pair's points
double *im_r=NULL,
// raw image coordinates
double *im_raw=NULL, double *im_raw_p=NULL,
// final matches
int *final_NumE=0);
DB_API double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i,
double *xp_i,double one_over_scale2);
DB_API void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i,
double *xp_i, double one_over_scale2,
int max_iterations=DB_DEFAULT_MAX_ITERATIONS,
double improvement_requirement=DB_DEFAULT_IMP_REQ);
DB_API void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type,
double *x_i,double *xp_i,double one_over_scale2,
int max_iterations=DB_DEFAULT_MAX_ITERATIONS,
double improvement_requirement=DB_DEFAULT_IMP_REQ);
#endif /* DB_ROB_IMAGE_HOMOGRAPHY */
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