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Homography2D.h
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00001 /********************************************************************
00002 **                Image Component Library (ICL)                    **
00003 **                                                                 **
00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
00005 **                         Neuroinformatics Group                  **
00006 ** Website: www.iclcv.org and                                      **
00007 **          http://opensource.cit-ec.de/projects/icl               **
00008 **                                                                 **
00009 ** File   : ICLMath/src/ICLMath/Homography2D.h                     **
00010 ** Module : ICLMath                                                **
00011 ** Authors: Christof Elbrechter                                    **
00012 **                                                                 **
00013 **                                                                 **
00014 ** GNU LESSER GENERAL PUBLIC LICENSE                               **
00015 ** This file may be used under the terms of the GNU Lesser General **
00016 ** Public License version 3.0 as published by the                  **
00017 **                                                                 **
00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL **
00019 ** included in the packaging of this file.  Please review the      **
00020 ** following information to ensure the license requirements will   **
00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
00022 **                                                                 **
00023 ** The development of this software was supported by the           **
00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
00026 ** Forschungsgemeinschaft (DFG) in the context of the German       **
00027 ** Excellence Initiative.                                          **
00028 **                                                                 **
00029 ********************************************************************/
00030 
00031 #pragma once
00032 
00033 #include <ICLUtils/CompatMacros.h>
00034 #include <ICLMath/FixedMatrix.h>
00035 #include <ICLUtils/Point32f.h>
00036 
00037 namespace icl{
00038   namespace math{
00039 
00041 
00155     template<class T>
00156     struct ICLMath_IMP GenericHomography2D : public FixedMatrix<T, 3, 3>{
00158       typedef FixedMatrix<T,3,3> Super;
00159       
00161       enum Algorithm{
00162         Simple,   
00163         Advanced, 
00164       };
00165       
00167       GenericHomography2D(){}
00168       
00170       GenericHomography2D(const utils::Point32f *pAs, const utils::Point32f *pBs, int n=4, Algorithm algo = Advanced);
00171   
00172   
00174       static inline utils::Point32f apply_homography(const FixedMatrix<float,3,3> &H, const utils::Point32f &p){
00175         float az = H(0,2)*p.x + H(1,2) * p.y + H(2,2);
00176         return utils::Point32f(( H(0,0)*p.x + H(1,0) * p.y + H(2,0) ) / az,
00177                                ( H(0,1)*p.x + H(1,1) * p.y + H(2,1) ) / az );
00178       }
00179   
00181       inline utils::Point32f apply(const utils::Point32f &p) const{
00182         return apply_homography(*this,p);
00183       }
00184   
00186       static inline utils::Point apply_homography_int(const FixedMatrix<float,3,3> &H, const utils::Point &p){
00187         float az = H(0,2)*p.x + H(1,2) * p.y + H(2,2);
00188         return utils::Point(round(( H(0,0)*p.x + H(1,0) * p.y + H(2,0) ) / az),
00189                      round(( H(0,1)*p.x + H(1,1) * p.y + H(2,1) ) / az) );
00190       }
00191   
00193       inline utils::Point32f apply_int(const utils::Point32f &p) const{
00194         return apply_homography_int(*this, p);
00195       }
00196     };
00197     
00199     typedef GenericHomography2D<float> Homography2D;
00200     
00201   
00202   } // namespace math
00203 }
00204 
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