Blender  V3.3
libmv/multiview/homography.h
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20 
21 #ifndef LIBMV_MULTIVIEW_HOMOGRAPHY_H_
22 #define LIBMV_MULTIVIEW_HOMOGRAPHY_H_
23 
24 #include "libmv/numeric/numeric.h"
25 
26 namespace libmv {
27 
53  const Mat& x1,
54  const Mat& x2,
55  Mat3* H,
56  double expected_precision = EigenDouble::dummy_precision());
57 
66  // Default constructor which sets up a options for generic usage.
68 
69  // Normalize correspondencies before estimating the homography
70  // in order to increase estimation stability.
71  //
72  // Normaliztion will make it so centroid od correspondences
73  // is the coordinate origin and their average distance from
74  // the origin is sqrt(2).
75  //
76  // See:
77  // - R. Hartley and A. Zisserman. Multiple View Geometry in Computer
78  // Vision. Cambridge University Press, second edition, 2003.
79  // - https://www.cs.ubc.ca/grads/resources/thesis/May09/Dubrofsky_Elan.pdf
81 
82  // Maximal number of iterations for the refinement step.
84 
85  // Expected average of symmetric geometric distance between
86  // actual destination points and original ones transformed by
87  // estimated homography matrix.
88  //
89  // Refinement will finish as soon as average of symmetric
90  // geometric distance is less or equal to this value.
91  //
92  // This distance is measured in the same units as input points are.
94 };
95 
104  const Mat& x1,
105  const Mat& x2,
107  Mat3* H);
108 
133  const Mat& x1,
134  const Mat& x2,
135  Mat4* H,
136  double expected_precision = EigenDouble::dummy_precision());
137 
143 double SymmetricGeometricDistance(const Mat3& H,
144  const Vec2& x1,
145  const Vec2& x2);
146 
147 } // namespace libmv
148 
149 #endif // LIBMV_MULTIVIEW_HOMOGRAPHY_H_
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CCL_NAMESPACE_BEGIN struct Options options
float[3][3] Mat3
Definition: gpu_matrix.cc:27
#define H(x, y, z)
Eigen::Matrix< double, 3, 3 > Mat3
Definition: numeric.h:72
Eigen::Vector2d Vec2
Definition: numeric.h:105
Eigen::MatrixXd Mat
Definition: numeric.h:60
bool Homography2DFromCorrespondencesLinear(const Mat &x1, const Mat &x2, Mat3 *H, double expected_precision)
bool EstimateHomography2DFromCorrespondences(const Mat &x1, const Mat &x2, const EstimateHomographyOptions &options, Mat3 *H)
bool Homography3DFromCorrespondencesLinear(const Mat &x1, const Mat &x2, Mat4 *H, double expected_precision)
double SymmetricGeometricDistance(const Mat3 &H, const Vec2 &x1, const Vec2 &x2)