94 lines
2.3 KiB
C++
94 lines
2.3 KiB
C++
/*
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* projectiveGeometry.h
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* @brief Projective geometry, implemented using tensor library
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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*/
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#pragma once
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#include <list>
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#include "tensors.h"
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namespace gtsam {
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/** 2D Point */
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typedef tensors::Tensor1<3> Point2h;
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Point2h point2h(double x, double y, double w);
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/** 2D Line */
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typedef tensors::Tensor1<3> Line2h;
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Line2h line2h(double a, double b, double c);
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/** 2D Point corrrespondence */
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struct Correspondence {
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Point2h first, second;
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Correspondence(const Point2h &p1, const Point2h &p2) :
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first(p1), second(p2) {
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}
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Correspondence swap() const {
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return Correspondence(second, first);
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}
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void print() {
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tensors::Index<3, 'i'> i;
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tensors::print(first(i), "first :");
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tensors::print(second(i), "second:");
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}
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};
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/** 2D-2D Homography */
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typedef tensors::Tensor2<3, 3> Homography2;
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/**
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* Estimate homography from point correspondences
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* Result is H(_a,b) s.t. p.second(b) = H(_a,b) * p.first(a) for all p
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*/
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Homography2 estimateHomography2(
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const std::list<Correspondence>& correspondences);
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/** Fundamental Matrix */
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typedef tensors::Tensor2<3, 3> FundamentalMatrix;
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/**
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* Estimate fundamental matrix from point correspondences
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* Result is F(_a,_b) s.t. H(_a,_b) * p.first(a) * p.second(b) == 0 for all p
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*/
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FundamentalMatrix estimateFundamentalMatrix(
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const std::list<Correspondence>& correspondences);
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/** Triplet of points */
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struct Triplet {
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Point2h first, second, third;
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Triplet(const Point2h &p1, const Point2h &p2, const Point2h &p3) :
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first(p1), second(p2), third(p3) {
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}
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void print() {
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tensors::Index<3, 'i'> i;
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tensors::print(first(i), "first :");
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tensors::print(second(i), "second:");
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tensors::print(third(i), "third :");
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}
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};
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/** Trifocal Tensor */
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typedef tensors::Tensor3<3, 3, 3> TrifocalTensor;
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/**
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* Estimate trifocal Tensor from point triplets
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* Result is T(_a,b,c)
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*/
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TrifocalTensor estimateTrifocalTensor(const std::list<Triplet>& triplets);
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/** 3D Point */
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typedef tensors::Tensor1<4> Point3h;
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Point3h point3h(double X, double Y, double Z, double W);
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/** 3D Plane */
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typedef tensors::Tensor1<4> Plane3h;
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Plane3h plane3h(double a, double b, double c, double d);
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/** 3D to 2D projective camera */
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typedef tensors::Tensor2<3, 4> ProjectiveCamera;
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} // namespace gtsam
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