Homography2D.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLMath/src/ICLMath/Homography2D.h                     **
** Module : ICLMath                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
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** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
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**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLMath/FixedMatrix.h>
#include <ICLUtils/Point32f.h>

namespace icl{
  namespace math{
    

    template<class T>
    struct GenericHomography2D : public FixedMatrix<T,3,3>{
      typedef FixedMatrix<T,3,3> Super;
      
      enum Algorithm{
        Simple,   
        Advanced, 
      };
      
      GenericHomography2D(){}
      
      GenericHomography2D(const utils::Point32f *pAs, const utils::Point32f *pBs, int n=4, Algorithm algo = Advanced);
  
  
      static inline utils::Point32f apply_homography(const FixedMatrix<float,3,3> &H, const utils::Point32f &p){
        float az = H(0,2)*p.x + H(1,2) * p.y + H(2,2);
        return utils::Point32f(( H(0,0)*p.x + H(1,0) * p.y + H(2,0) ) / az,
                               ( H(0,1)*p.x + H(1,1) * p.y + H(2,1) ) / az );
      }
  
      inline utils::Point32f apply(const utils::Point32f &p) const{
        return apply_homography(*this,p);
      }
  
      static inline utils::Point apply_homography_int(const FixedMatrix<float,3,3> &H, const utils::Point &p){
        float az = H(0,2)*p.x + H(1,2) * p.y + H(2,2);
        return utils::Point(round(( H(0,0)*p.x + H(1,0) * p.y + H(2,0) ) / az),
                     round(( H(0,1)*p.x + H(1,1) * p.y + H(2,1) ) / az) );
      }
  
      inline utils::Point32f apply_int(const utils::Point32f &p) const{
        return apply_homography_int(*this, p);
      }
    };
    
    typedef GenericHomography2D<float> Homography2D;
    
  
  } // namespace math
}