Estimates a rough 2D homography registering two images. More...

#include <initial_homography_estimation.hpp>

Public Member Functions
void	setTemplateImage (const uint8_t *grayData, int width, int height, int stride, int downsampleFactor)
void	setTestImage (const uint8_t *grayData, int width, int height, int stride, int downsampleFactor)
Eigen::Matrix3f	track (const Eigen::Matrix3f &init_H, int nIters, double *finalRMS)
Private Member Functions
Eigen::MatrixXf	computeJacobian (const Eigen::ArrayXf &dx, const Eigen::ArrayXf &dy) const
Eigen::MatrixXf	constructWarpedImage (const Eigen::MatrixXf &srcImage, const Eigen::MatrixXf &warpedPoints) const
Eigen::Matrix3f	lieToH (const Eigen::VectorXf &lie) const
Static Private Member Functions
static double	computeError (const Eigen::MatrixXf &error)
static void	computeGradient (const Eigen::MatrixXf &image, Eigen::MatrixXf dxp, Eigen::MatrixXf dyp)
static Eigen::ArrayXf	flattenMatrix (Eigen::MatrixXf &m)
Private Attributes
Eigen::MatrixXf	errorIm
int	template_cols
int	template_rows
Eigen::ArrayXf	templateDxRow
Eigen::ArrayXf	templateDyRow
Eigen::MatrixXf	templateImage
Eigen::MatrixXf	templatePoints
Eigen::MatrixXf	testImage
Eigen::MatrixXf	warpedTestImage
Eigen::ArrayXf	xx
Eigen::ArrayXf	yy

Detailed Description

Estimates a rough 2D homography registering two images.

Definition at line 14 of file initial_homography_estimation.hpp.

Member Function Documentation

double fovis::InitialHomographyEstimator::computeError ( const Eigen::MatrixXf & error ) [static, private]

Compute the error (RMS) for the passed in difference image

Definition at line 93 of file initial_homography_estimation.cpp.

void fovis::InitialHomographyEstimator::computeGradient	(	const Eigen::MatrixXf &	image,
		Eigen::MatrixXf *	dxp,
		Eigen::MatrixXf *	dyp
	)		`[static, private]`

Compute the x/y gradient of the passed in image

Definition at line 174 of file initial_homography_estimation.cpp.

Eigen::MatrixXf fovis::InitialHomographyEstimator::computeJacobian	(	const Eigen::ArrayXf &	dx,
		const Eigen::ArrayXf &	dy
	)		const `[private]`

form the Jacobian

Definition at line 199 of file initial_homography_estimation.cpp.

Eigen::MatrixXf fovis::InitialHomographyEstimator::constructWarpedImage	(	const Eigen::MatrixXf &	srcImage,
		const Eigen::MatrixXf &	warpedPoints
	)		const `[private]`

Warp srcImage according to the warped points

Definition at line 218 of file initial_homography_estimation.cpp.

Eigen::ArrayXf fovis::InitialHomographyEstimator::flattenMatrix ( Eigen::MatrixXf & m ) [static, private]

Flatten an image stored as a matrix down into a row vector

Definition at line 18 of file initial_homography_estimation.cpp.

Eigen::Matrix3f fovis::InitialHomographyEstimator::lieToH ( const Eigen::VectorXf & lie ) const [private]

Compute the homography from the lie parameterization

Definition at line 208 of file initial_homography_estimation.cpp.

void fovis::InitialHomographyEstimator::setTemplateImage	(	const uint8_t *	grayData,
		int	width,
		int	height,
		int	stride,
		int	downsampleFactor
	)

Set the template image to the passed in arguments. assumes the image data is row-major. The image will be downsampled by $1/2^{downsampleFactor}$

Definition at line 63 of file initial_homography_estimation.cpp.

void fovis::InitialHomographyEstimator::setTestImage	(	const uint8_t *	grayData,
		int	width,
		int	height,
		int	stride,
		int	downsampleFactor
	)

Set the test image accordingly. The opimization will warp this image to match the template assumes the image data is row-major. The image will be downsampled by $1/2^{downsampleFactor}$

Definition at line 58 of file initial_homography_estimation.cpp.

Eigen::Matrix3f fovis::InitialHomographyEstimator::track	(	const Eigen::Matrix3f &	init_H,
		int	nIters,
		double *	finalRMS
	)

Run ESM to find the homography between the template and test images. These should have already been passed in using the methods setTemplateImage(), and setTestImage().

Definition at line 98 of file initial_homography_estimation.cpp.