00001
00007 #ifndef P_COMPUTE_OBJECT_MODEL_3D_HH
00008 #define P_COMPUTE_OBJECT_MODEL_3D_HH
00009
00010 #include <blort/Recognizer3D/PNamespace.hh>
00011 #include <blort/Recognizer3D/Object3D.hh>
00012 #include <blort/Recognizer3D/Array.hh>
00013 #include <blort/Recognizer3D/Definitions.hh>
00014 #include <blort/Recognizer3D/CodebookEntry.hh>
00015 #include <blort/Recognizer3D/Geometry.hh>
00016 #include <string>
00017
00018 namespace P
00019 {
00020
00025 class ModelObject3D
00026 {
00027 private:
00028 void ComputeNewHnorm(P::Array<KeypointDescriptor*> &keys, double Hnorm[9]);
00029 void InsertMeanShift(Array<KeypointDescriptor* > &keys, P::Array<CodebookEntry*> &codebook, double H[9]);
00030
00031
00032 public:
00033 ModelObject3D();
00034 ~ModelObject3D();
00035
00036 void AddToModel(Array<KeypointDescriptor *> &keys, Object3D &obj);
00037 void SaveModel(const char *filename, Object3D &obj);
00038 bool LoadModel(const std::string filename, Object3D &obj);
00039
00040 inline void MapPoint(double xin, double yin, double H[9], double &xout, double &yout);
00041 inline void MapPoint(double in[2], double H[9], double out[2]);
00042 inline void GetPosScaleAngle( double x, double y, double H[9], double &xr, double &yr, double &scale, double &angle);
00043
00044 };
00045
00046
00047
00048
00053 inline void ModelObject3D::MapPoint(double xin, double yin, double H[9], double &xout, double &yout)
00054 {
00055 xout = H[0]*xin + H[1]*yin + H[2];
00056 yout = H[3]*xin + H[4]*yin + H[5];
00057 double t = H[6]*xin + H[7]*yin + H[8];
00058 xout /= t;
00059 yout /= t;
00060 }
00061
00066 inline void ModelObject3D::MapPoint(double in[2], double H[9], double out[2])
00067 {
00068 out[0] = H[0]*in[0] + H[1]*in[1] + H[2];
00069 out[1] = H[3]*in[0] + H[4]*in[1] + H[5];
00070 double t = H[6]*in[0] + H[7]*in[1] + H[8];
00071 out[0] /= t;
00072 out[1] /= t;
00073 }
00074
00078 inline void ModelObject3D::GetPosScaleAngle( double x, double y, double H[9], double &xr, double &yr, double &scale, double &angle)
00079 {
00080 double x2=x+10.;
00081 double y2=y;
00082 double x2H,y2H;
00083 MapPoint(x,y,H,xr,yr);
00084 MapPoint(x2,y2,H,x2H,y2H);
00085
00086 double dxH=x2H-xr;
00087 double dyH=y2H-yr;
00088 scale=((sqrt(dxH*dxH+dyH*dyH))/10.);
00089 angle=atan2(dyH,dxH);
00090 }
00091
00092
00093 }
00094
00095 #endif
00096
