homography_parameterization.h

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// 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.
//
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// 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
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// IN THE SOFTWARE.
 
#ifndef LIBMV_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_
#define LIBMV_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_
 
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
template <typename T = double>
class Homography2DNormalizedParameterization {
 public:
  typedef Eigen::Matrix<T, 8, 1> Parameters;     // a, b, ... g, h
  typedef Eigen::Matrix<T, 3, 3> Parameterized;  // H
 
  static void To(const Parameters& p, Parameterized* h) {
    // clang-format off
    *h << p(0), p(1), p(2),
          p(3), p(4), p(5),
          p(6), p(7), 1.0;
    // clang-format on
  }
 
  static void From(const Parameterized& h, Parameters* p) {
    // clang-format off
    *p << h(0, 0), h(0, 1), h(0, 2),
          h(1, 0), h(1, 1), h(1, 2),
          h(2, 0), h(2, 1);
    // clang-format on
  }
};
 
template <typename T = double>
class Homography3DNormalizedParameterization {
 public:
  typedef Eigen::Matrix<T, 15, 1> Parameters;    // a, b, ... n, o
  typedef Eigen::Matrix<T, 4, 4> Parameterized;  // H
 
  static void To(const Parameters& p, Parameterized* h) {
    // clang-format off
    *h << p(0), p(1), p(2), p(3),
          p(4), p(5), p(6), p(7),
          p(8), p(9), p(10), p(11),
          p(12), p(13), p(14), 1.0;
    // clang-format on
  }
 
  static void From(const Parameterized& h, Parameters* p) {
    // clang-format off
    *p << h(0, 0), h(0, 1), h(0, 2), h(0, 3),
          h(1, 0), h(1, 1), h(1, 2), h(1, 3),
          h(2, 0), h(2, 1), h(2, 2), h(2, 3),
          h(3, 0), h(3, 1), h(3, 2);
    // clang-format on
  }
};
 
}  // namespace libmv
 
#endif  // LIBMV_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_