thermalvis: thermalvis: geometry.hpp Source File

00001 
00005 #ifndef _THERMALVIS_GEOMETRY_H_
00006 #define _THERMALVIS_GEOMETRY_H_
00007 
00008 #include "general_resources.hpp"
00009 #include "opencv_resources.hpp"
00010 
00011 // FLAGS for geometric distance measurement (F & H assessment)
00012 #define SAMPSON_DISTANCE                        0
00013 #define ALGEBRAIC_DISTANCE                      1
00014 #define EPIPOLAR_DISTANCE                       2
00015 #define LOURAKIS_DISTANCE                       3
00016 
00017 double normalizedGRICdifference(vector<Point2f>& pts1, vector<Point2f>& pts2, Mat& F, Mat& H, Mat& mask_F, Mat& mask_H, double& F_GRIC, double& H_GRIC);
00018 
00019 double calculateGRIC(vector<Point2f>& pts1, vector<Point2f>& pts2, Mat& rel, Mat& mask, int d, double k, double r, double lambda_3, int distMethod);
00020 double calculateRho(double e, double sig, double r, double lambda_3, int d);
00021 
00022 double calcGeometryDistance(Point2f& pt1, Point2f& pt2, Mat& mat, int distMethod = SAMPSON_DISTANCE);
00023 
00024 double lourakisSampsonError(Point2f& pt1, Point2f& pt2, Mat& H);
00025 
00026 
00027 
00028 #endif