00001 #ifndef _JAFAR_HOMOGRAPHY_HOMOGRAPHY_ESTIMATOR_HPP_
00002 #define _JAFAR_HOMOGRAPHY_HOMOGRAPHY_ESTIMATOR_HPP_
00003
00004 #include "image/Image.hpp"
00005 #include "jmath/jblas.hpp"
00006
00007 #include "homography/ImageGradients.hpp"
00008
00009 namespace jafar {
00010 namespace textures {
00011 class Attributes;
00012 }
00013 namespace homography {
00021 class HomographyEstimator {
00022 public:
00023 struct Statistics {
00024 ~Statistics();
00025 double mean, stddev;
00026 std::vector<double> znccs, errors;
00027 std::vector<jblas::mat33 > updates;
00028 std::vector<jblas::mat33 > homographies;
00029 textures::Attributes* attributes;
00030 void print();
00031 };
00032 public:
00037 HomographyEstimator(int hsp) : m_halfSizePatch(hsp), m_sizePatch (2 * hsp + 1) { }
00038 virtual ~HomographyEstimator() { }
00039 public:
00040 inline jblas::mat33 estimate(const jafar::image::Image& imgref, const ImageGradients& imggradref, double uref, double vref, const jafar::image::Image& imgmatch, const ImageGradients& imggradmatch, double umatch, double vmatch, jafar::homography::HomographyEstimator::Statistics& stats)
00041 {
00042 jblas::mat33 result;
00043 estimate(result, imgref, imggradref, uref, vref, imgmatch, imggradmatch, umatch, vmatch, stats);
00044 return result;
00045 }
00046 virtual void estimate(jblas::mat33& homography, const jafar::image::Image& imgref, const ImageGradients& imggradref, double uref, double vref, const jafar::image::Image& imgmatch, const ImageGradients& imggradmatch, double umatch, double vmatch, jafar::homography::HomographyEstimator::Statistics& stats) = 0;
00047 protected:
00048 void wrapImage(const jafar::image::Image& imgsrc,jafar::image::Image& imgdst, const jblas::mat33& homography);
00049 double errorImage( jafar::image::Image& imgerr, const jafar::image::Image& img1, const jafar::image::Image& img2 );
00050 public:
00051 void setHalfSizePatch(int sp) { m_halfSizePatch = sp; m_sizePatch = 2 * sp + 1; }
00052 int halfSizePatch() { return m_halfSizePatch; }
00053 int sizePatch() { return m_sizePatch; }
00054 int iterations() { return 10; }
00055 private:
00056 int m_halfSizePatch, m_sizePatch;
00057 };
00063 class SecondOrderHomographyEstimator : public HomographyEstimator {
00064 public:
00065 SecondOrderHomographyEstimator(int hsp = 4) : HomographyEstimator(hsp)
00066 {
00067 }
00068 virtual ~SecondOrderHomographyEstimator() { }
00069 public:
00070 virtual void estimate(jblas::mat33& homography, const jafar::image::Image& imgref, const ImageGradients& imggradref, double uref, double vref, const jafar::image::Image& imgmatch, const ImageGradients& imggradmatch, double umatch, double vmatch, jafar::homography::HomographyEstimator::Statistics& stats);
00071 };
00077 class InverseCompositionalHomographyEstimator : public HomographyEstimator {
00078 public:
00079 InverseCompositionalHomographyEstimator(int hsp = 4) : HomographyEstimator(hsp)
00080 {
00081 }
00082 virtual ~InverseCompositionalHomographyEstimator() { }
00083 public:
00084 virtual void estimate(jblas::mat33& homography, const jafar::image::Image& imgref, const ImageGradients& imggradref, double uref, double vref, const jafar::image::Image& imgmatch, const ImageGradients& imggradmatch, double umatch, double vmatch, jafar::homography::HomographyEstimator::Statistics& stats);
00085 };
00086 }
00087 }
00088
00089 #endif
00090
