P::Homography Class Reference

#include <Homography.hh>

List of all members.

Public Member Functions
bool	ComputeAff (double a1[2], double a2[2], double a3[2], double b1[2], double b2[2], double b3[2], double H[9])
bool	ComputeHom (double a1[2], double a2[2], double a3[2], double a4[2], double b1[2], double b2[2], double b3[2], double b4[2], double H[9])
bool	ComputeHomLS (double H[9], bool normalize=true)
bool	ComputeHomRobustLS (double H[9], bool normalize=true, double thrInlier=1., double thrAngle=1.)
bool	EstimateAff (double H[9], int &nbOutliers, double inlPcent=.8, bool returnOutl=false, int normalize=1, int verbose=1)
bool	EstimateHom (double H[9], int &nbOutliers, double inlPcent=.8, bool returnOutl=false, int normalize=1, int NLrefine=HOMEST_SYM_XFER_ERROR, int verbose=1)
	Homography ()
	Homography (unsigned nbPoints, unsigned nbLines=0)
void	InsertNext (double pt1[2], double pt2[2])
void	InsertNextLn (double ln1[2], double ln2[2])
void	InsertNextLn (double a1[2], double b1[2], double a2[2], double b2[2])
void	InsertNextPt (double pt1[2], double pt2[2])
void	LinePts2Para (double p1[2], double p2[2], double l[3])
void	Resize (unsigned nbPoints, unsigned nbLines=0)
void	SetFirst ()
	~Homography ()
Public Attributes
Array< int >	outl
Array< int >	outlLns
Private Member Functions
void	CountInlierLns (double H[9], double thr, double thrAngle, int &inl)
void	CountInlierPts (double H[9], double thr, int &inl)
void	DenormalizeH (double nH[9], double T1[9], double T2[9], double H[9])
void	GetRandIdx (unsigned size, unsigned num, P::Array< unsigned > &idx)
void	InsertLineCoeff (Vector2 &ln1, Vector2 &ln2, double *d)
void	InsertPointCoeff (Vector2 &pt1, Vector2 &pt2, double *d)
void	NormalizeH (double H[9], double T1[9], double T2[9], double nH[9])
void	NormalizeLns (double T[9], Array< Vector2 > &in, unsigned numLns, Array< Vector2 > &out)
void	NormalizePts (Array< Vector2 > &in, unsigned numPts, Array< Vector2 > &out, double T[9])
void	SetDataMatrix (double *d, double H[9], double thr, double thrAngle, int &numInl)
void	SetDataMatrixLns (Array< Vector2 > &lns1, Array< Vector2 > &lns2, unsigned numLns, unsigned start, CvMat *A)
void	SetDataMatrixPts (Array< Vector2 > &pts1, Array< Vector2 > &pts2, unsigned numPts, unsigned start, CvMat *A)
bool	SolveHomography (CvMat *A, CvMat *W, CvMat *Ut, CvMat *Vt, double H[9])
Private Attributes
double *	invT
unsigned	lastLn
unsigned	lastPt
Array< Vector2 >	lns1
Array< Vector2 >	lns2
Array< Vector2 >	pts1
Array< Vector2 >	pts2
double *	T1

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Detailed Description

Definition at line 27 of file Homography.hh.

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Constructor & Destructor Documentation

P::Homography::Homography

(

)

Definition at line 22 of file Homography.cc.

P::Homography::Homography	(	unsigned	nbPoints,
		unsigned	nbLines = 0
	)

Definition at line 27 of file Homography.cc.

P::Homography::~Homography

(

)

Definition at line 42 of file Homography.cc.

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Member Function Documentation

bool P::Homography::ComputeAff	(	double	a1[2],
		double	a2[2],
		double	a3[2],
		double	b1[2],
		double	b2[2],
		double	b3[2],
		double	H[9]
	)

Compute affine mapping of three points

Definition at line 523 of file Homography.cc.

bool P::Homography::ComputeHom	(	double	a1[2],
		double	a2[2],
		double	a3[2],
		double	a4[2],
		double	b1[2],
		double	b2[2],
		double	b3[2],
		double	b4[2],
		double	H[9]
	)

Compute projective mapping of four points

Definition at line 470 of file Homography.cc.

bool P::Homography::ComputeHomLS	(	double	H[9],
		bool	normalize = true
	)

Compute the least squares homography matrix using points and lines This implementation needs points (for normalisation) and also uses lines for least squares

Definition at line 560 of file Homography.cc.

bool P::Homography::ComputeHomRobustLS	(	double	H[9],
		bool	normalize = true,
		double	thrInlier = 1.,
		double	thrAngle = 1.
	)

Compute the least squares homography matrix using points and lines This implementation needs points (for normalisation) and also uses lines for least squares

Definition at line 615 of file Homography.cc.

void P::Homography::CountInlierLns	(	double	H[9],
		double	thr,
		double	thrAngle,
		int &	inl
	)		[private]

Count point inlier

Definition at line 84 of file Homography.cc.

void P::Homography::CountInlierPts	(	double	H[9],
		double	thr,
		int &	inl
	)		[private]

Count point inlier

Definition at line 68 of file Homography.cc.

void P::Homography::DenormalizeH	(	double	nH[9],
		double	T1[9],
		double	T2[9],
		double	H[9]
	)		[private]

Denormalize H H = T2^-1 * nH * T1

Definition at line 389 of file Homography.cc.

bool P::Homography::EstimateAff	(	double	H[9],
		int &	nbOutliers,
		double	inlPcent = .8,
		bool	returnOutl = false,
		int	normalize = 1,
		int	verbose = 1
	)

Compute affine homography matrix robust to outlier

• least median of squares

Definition at line 446 of file Homography.cc.

bool P::Homography::EstimateHom	(	double	H[9],
		int &	nbOutliers,
		double	inlPcent = .8,
		bool	returnOutl = false,
		int	normalize = 1,
		int	NLrefine = HOMEST_SYM_XFER_ERROR,
		int	verbose = 1
	)

Compute homography matrix robust to outlier

• least median of squares
• non linear refinement (lev mar)

Definition at line 414 of file Homography.cc.

void P::Homography::GetRandIdx	(	unsigned	size,
		unsigned	num,
		P::Array< unsigned > &	idx
	)		[private]

GetRandIdx

Definition at line 52 of file Homography.cc.

void P::Homography::InsertLineCoeff	(	Vector2 &	ln1,
		Vector2 &	ln2,
		double *	d
	)		[inline, private]

Insert a line to the least squares homography matrix

Definition at line 131 of file Homography.hh.

void P::Homography::InsertNext	(	double	pt1[2],
		double	pt2[2]
	)		[inline]

insert next point

Definition at line 191 of file Homography.hh.

void P::Homography::InsertNextLn	(	double	ln1[2],
		double	ln2[2]
	)		[inline]

insert next line definition of lines: ax + by + c = 1 ( a ) ( a/c ) -> l = | b | = | b/c | ( c ) ( 1 )

Definition at line 238 of file Homography.hh.

void P::Homography::InsertNextLn	(	double	a1[2],
		double	b1[2],
		double	a2[2],
		double	b2[2]
	)		[inline]

insert line defined by two points [a1 b1] and [a2 b2]

Definition at line 259 of file Homography.hh.

void P::Homography::InsertNextPt	(	double	pt1[2],
		double	pt2[2]
	)		[inline]

insert next point

Definition at line 212 of file Homography.hh.

void P::Homography::InsertPointCoeff	(	Vector2 &	pt1,
		Vector2 &	pt2,
		double *	d
	)		[inline, private]

Insert a point to the least squares homography matrix

Definition at line 99 of file Homography.hh.

void P::Homography::LinePts2Para	(	double	p1[2],
		double	p2[2],
		double	l[3]
	)		[inline]

Compute parameters of a line defined by two points

Definition at line 287 of file Homography.hh.

void P::Homography::NormalizeH	(	double	H[9],
		double	T1[9],
		double	T2[9],
		double	nH[9]
	)		[private]

Normalize H nH = T2 * H * T1^-1

Definition at line 376 of file Homography.cc.

void P::Homography::NormalizeLns	(	double	T[9],
		Array< Vector2 > &	in,
		unsigned	numLns,
		Array< Vector2 > &	out
	)		[private]

Normalize lines (see Dubrofsky, 2008)

Definition at line 278 of file Homography.cc.

void P::Homography::NormalizePts	(	Array< Vector2 > &	in,
		unsigned	numPts,
		Array< Vector2 > &	out,
		double	T[9]
	)		[private]

Normalize points suggested by Hartley

Definition at line 235 of file Homography.cc.

void P::Homography::Resize	(	unsigned	nbPoints,
		unsigned	nbLines = 0
	)		[inline]

allocate memory for points

Definition at line 163 of file Homography.hh.

void P::Homography::SetDataMatrix	(	double *	d,
		double	H[9],
		double	thr,
		double	thrAngle,
		int &	numInl
	)		[private]

set least squares deata matrix (Ai*h = 0)

Definition at line 133 of file Homography.cc.

void P::Homography::SetDataMatrixLns	(	Array< Vector2 > &	lns1,
		Array< Vector2 > &	lns2,
		unsigned	numLns,
		unsigned	start,
		CvMat *	A
	)		[private]

Construct data matrix

Definition at line 336 of file Homography.cc.

void P::Homography::SetDataMatrixPts	(	Array< Vector2 > &	pts1,
		Array< Vector2 > &	pts2,
		unsigned	numPts,
		unsigned	start,
		CvMat *	A
	)		[private]

Construct data matrix

Definition at line 297 of file Homography.cc.

void P::Homography::SetFirst

(

)

[inline]

set last pointer to first point

Definition at line 182 of file Homography.hh.

bool P::Homography::SolveHomography	(	CvMat *	A,
		CvMat *	W,
		CvMat *	Ut,
		CvMat *	Vt,
		double	H[9]
	)		[private]

Uses SVD to solve the matrix

Definition at line 213 of file Homography.cc.

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Member Data Documentation

double * P::Homography::invT [private]

Definition at line 36 of file Homography.hh.

unsigned P::Homography::lastLn [private]

Definition at line 34 of file Homography.hh.

unsigned P::Homography::lastPt [private]

Definition at line 33 of file Homography.hh.

Array<Vector2> P::Homography::lns1 [private]

Definition at line 31 of file Homography.hh.

Array<Vector2> P::Homography::lns2 [private]

Definition at line 31 of file Homography.hh.

Array<int> P::Homography::outl

Definition at line 57 of file Homography.hh.

Array<int> P::Homography::outlLns

Definition at line 58 of file Homography.hh.

Array<Vector2> P::Homography::pts1 [private]

Definition at line 30 of file Homography.hh.

Array<Vector2> P::Homography::pts2 [private]

Definition at line 30 of file Homography.hh.

double* P::Homography::T1 [private]

Definition at line 36 of file Homography.hh.

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The documentation for this class was generated from the following files:

• Homography.hh
• Homography.cc