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Diffstat (limited to 'jni/feature_stab/db_vlvm/db_image_homography.h')
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1 files changed, 0 insertions, 183 deletions
diff --git a/jni/feature_stab/db_vlvm/db_image_homography.h b/jni/feature_stab/db_vlvm/db_image_homography.h deleted file mode 100644 index 165447dd7..000000000 --- a/jni/feature_stab/db_vlvm/db_image_homography.h +++ /dev/null @@ -1,183 +0,0 @@ -/* - * 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_image_homography.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#ifndef DB_IMAGE_HOMOGRAPHY -#define DB_IMAGE_HOMOGRAPHY - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_framestitching.h" -/*! - * \defgroup LMImageHomography (LM) Image Homography Estimation (feature based) - */ -/*\{*/ -/*! -Solve for projective H such that xp~Hx. Prior normalization is not necessary, -although desirable for numerical conditioning -\param H image projective (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param x3 image 1 point 3 -\param x4 image 1 point 4 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -\param xp3 image 2 point 3 -\param xp4 image 2 point 4 -*/ -DB_API void db_StitchProjective2D_4Points(double H[9], - double x1[3],double x2[3],double x3[3],double x4[3], - double xp1[3],double xp2[3],double xp3[3],double xp4[3]); - -/*! -Solve for affine H such that xp~Hx. Prior normalization is not necessary, -although desirable for numerical conditioning -\param H image projective (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param x3 image 1 point 3 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -\param xp3 image 2 point 3 -*/ -DB_API void db_StitchAffine2D_3Points(double H[9], - double x1[3],double x2[3],double x3[3], - double xp1[3],double xp2[3],double xp3[3]); - -/*! -Solve for rotation R such that xp~Rx. -Image points have to be of unit norm for the least squares to be meaningful. -\param R image rotation (out) -\param x1 image 1 point 1 -\param x2 image 1 point 2 -\param xp1 image 2 point 1 -\param xp2 image 2 point 2 -*/ -inline void db_StitchCameraRotation_2Points(double R[9], - /*Image points have to be of unit norm - for the least squares to be meaningful*/ - double x1[3],double x2[3], - double xp1[3],double xp2[3]) -{ - double* x[2]; - double* xp[2]; - double scale,t[3]; - - x[0]=x1; - x[1]=x2; - xp[0]=xp1; - xp[1]=xp2; - db_StitchSimilarity3DRaw(&scale,R,t,xp,x,2,1,0,1,0); -} - -/*! -Solve for a homography H generated by a rotation R with a common unknown focal length f, i.e. -H=diag(f,f,1)*R*diag(1/f,1/f,1) such that xp~Hx. -If signed_disambiguation is true, the points are -required to be in front of the camera. No specific normalization of the homogenous points -is required, although it could be desirable to keep x1,x2,xp1 and xp2 of reasonable magnitude. -If a solution is obtained the function returns 1, otherwise 0. If the focal length is desired -a valid pointer should be passed in f -*/ -DB_API int db_StitchRotationCommonFocalLength_3Points(double H[9],double x1[3],double x2[3],double x3[3], - double xp1[3],double xp2[3],double xp3[3],double *f=0,int signed_disambiguation=1); - -/*! -Find scale, rotation and translation of the similarity that -takes the nr_points inhomogenous 2D points X to Xp, -i.e. for the homogenous equivalents -Xp and X we would have -\code -Xp~ -[sR t]*X -[0 1] -\endcode -If orientation_preserving is true, R is restricted such that det(R)>0. -allow_scaling, allow_rotation and allow_translation allow s,R and t -to differ from 1,Identity and 0 - -Full similarity takes the following on 550MHz: -\code -0.9 microseconds with 2 points -1.0 microseconds with 3 points -1.1 microseconds with 4 points -1.3 microseconds with 5 points -1.4 microseconds with 6 points -1.7 microseconds with 10 points -9 microseconds with 100 points -130 microseconds with 1000 points -1.3 milliseconds with 10000 points -35 milliseconds with 100000 points -350 milliseconds with 1000000 points -\endcode - -Without orientation_preserving: -\code -3 points is minimal for (s,R,t) (R,t) -2 points is minimal for (s,t) (s,R) (R) -1 point is minimal for (s) (t) -\endcode - -With orientation_preserving: -\code -2 points is minimal for (s,R,t) (R,t) (s,t) -1 point is minimal for (s,R) (R) (s) (t) -\endcode -\param scale (out) -\param R 2D rotation (out) -\param t 2D translation (out) -\param Xp (nr_points x 2) pointer to array of image points -\param X (nr_points x 2 ) pointer to array of image points -\param nr_points number of points -\param orientation_preserving -\param allow_scaling compute scale (if 0, scale=1) -\param allow_rotation compute rotation (if 0, R=[I]) -\param allow_translation compute translation (if 0 t = [0,0]') -*/ -DB_API void db_StitchSimilarity2DRaw(double *scale,double R[4],double t[2], - double **Xp,double **X,int nr_points,int orientation_preserving=1, - int allow_scaling=1,int allow_rotation=1,int allow_translation=1); -/*! -See db_StitchRotationCommonFocalLength_3Points(). -\param H Image similarity transformation (out) -\param Xp (nr_points x 2) pointer to array of image points -\param X (nr_points x 2) pointer to array of image points -\param nr_points number of points -\param orientation_preserving -\param allow_scaling compute scale (if 0, scale=1) -\param allow_rotation compute rotation (if 0, R=[I]) -\param allow_translation compute translation (if 0 t = [0,0]') -*/ -inline void db_StitchSimilarity2D(double H[9],double **Xp,double **X,int nr_points,int orientation_preserving=1, - int allow_scaling=1,int allow_rotation=1,int allow_translation=1) -{ - double s,R[4],t[2]; - - db_StitchSimilarity2DRaw(&s,R,t,Xp,X,nr_points,orientation_preserving, - allow_scaling,allow_rotation,allow_translation); - - H[0]=s*R[0]; H[1]=s*R[1]; H[2]=t[0]; - H[3]=s*R[2]; H[4]=s*R[3]; H[5]=t[1]; - db_Zero2(H+6); - H[8]=1.0; -} -/*\}*/ -#endif /* DB_IMAGE_HOMOGRAPHY */ |