libmv/multiview/homography.h

Go to the documentation of this file.

// Copyright (c) 2011 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
 
#ifndef LIBMV_MULTIVIEW_HOMOGRAPHY_H_
#define LIBMV_MULTIVIEW_HOMOGRAPHY_H_
 
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
bool Homography2DFromCorrespondencesLinear(
    const Mat& x1,
    const Mat& x2,
    Mat3* H,
    double expected_precision = EigenDouble::dummy_precision());
 
struct EstimateHomographyOptions {
  // Default constructor which sets up a options for generic usage.
  EstimateHomographyOptions(void);
 
  // Normalize correspondencies before estimating the homography
  // in order to increase estimation stability.
  //
  // Normaliztion will make it so centroid od correspondences
  // is the coordinate origin and their average distance from
  // the origin is sqrt(2).
  //
  // See:
  //   - R. Hartley and A. Zisserman. Multiple View Geometry in Computer
  //     Vision. Cambridge University Press, second edition, 2003.
  //   - https://www.cs.ubc.ca/grads/resources/thesis/May09/Dubrofsky_Elan.pdf
  bool use_normalization;
 
  // Maximal number of iterations for the refinement step.
  int max_num_iterations;
 
  // Expected average of symmetric geometric distance between
  // actual destination points and original ones transformed by
  // estimated homography matrix.
  //
  // Refinement will finish as soon as average of symmetric
  // geometric distance is less or equal to this value.
  //
  // This distance is measured in the same units as input points are.
  double expected_average_symmetric_distance;
};
 
bool EstimateHomography2DFromCorrespondences(
    const Mat& x1,
    const Mat& x2,
    const EstimateHomographyOptions& options,
    Mat3* H);
 
bool Homography3DFromCorrespondencesLinear(
    const Mat& x1,
    const Mat& x2,
    Mat4* H,
    double expected_precision = EigenDouble::dummy_precision());
 
double SymmetricGeometricDistance(const Mat3& H,
                                  const Vec2& x1,
                                  const Vec2& x2);
 
}  // namespace libmv
 
#endif  // LIBMV_MULTIVIEW_HOMOGRAPHY_H_