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Diffstat (limited to 'jni/feature_stab/db_vlvm/db_rob_image_homography.h')
| -rw-r--r-- | jni/feature_stab/db_vlvm/db_rob_image_homography.h | 148 |
1 files changed, 0 insertions, 148 deletions
diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.h b/jni/feature_stab/db_vlvm/db_rob_image_homography.h deleted file mode 100644 index 59cde7daa..000000000 --- a/jni/feature_stab/db_vlvm/db_rob_image_homography.h +++ /dev/null @@ -1,148 +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_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 */ |