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Diffstat (limited to 'intern/libmv/libmv/multiview/panography.h')
-rw-r--r-- | intern/libmv/libmv/multiview/panography.h | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/intern/libmv/libmv/multiview/panography.h b/intern/libmv/libmv/multiview/panography.h new file mode 100644 index 00000000000..6e87bd71304 --- /dev/null +++ b/intern/libmv/libmv/multiview/panography.h @@ -0,0 +1,99 @@ +// Copyright (c) 2009 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. +// + +#ifndef LIBMV_MULTIVIEW_PANOGRAPHY_H +#define LIBMV_MULTIVIEW_PANOGRAPHY_H + +#include "libmv/numeric/numeric.h" +#include "libmv/numeric/poly.h" +#include "libmv/base/vector.h" + +namespace libmv { + +// This implements a minimal solution (2 points) for panoramic stitching: +// +// http://www.cs.ubc.ca/~mbrown/minimal/minimal.html +// +// [1] M. Brown and R. Hartley and D. Nister. Minimal Solutions for Panoramic +// Stitching. CVPR07. +// +// The 2-point algorithm solves for the rotation of the camera with a single +// focal length (4 degrees of freedom). +// +// Compute from 1 to 3 possible focal lenght for 2 point correspondences. +// Suppose that the cameras share the same optical center and focal lengths: +// +// Image 1 => H*x = x' => Image 2 +// x (u1j) x' (u2j) +// a (u11) a' (u21) +// b (u12) b' (u22) +// +// The return values are 1 to 3 possible values for the focal lengths such +// that: +// +// [f 0 0] +// K = [0 f 0] +// [0 0 1] +// +void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2, + vector<double> *fs); + +// Compute the 3x3 rotation matrix that fits two 3D point clouds in the least +// square sense. The method is from: +// +// K. Arun,T. Huand and D. Blostein. Least-squares fitting of 2 3-D point +// sets. IEEE Transactions on Pattern Analysis and Machine Intelligence, +// 9:698-700, 1987. +// +// Given the calibration matrices K1, K2 solve for the rotation from +// corresponding image rays. +// +// R = min || X2 - R * x1 ||. +// +// In case of panography, which is for a camera that shares the same camera +// center, +// +// H = K2 * R * K1.inverse(); +// +// For the full explanation, see Section 8, Solving for Rotation from [1]. +// +// Parameters: +// +// x1 : Point cloud A (3D coords) +// x2 : Point cloud B (3D coords) +// +// [f 0 0] +// K1 = [0 f 0] +// [0 0 1] +// +// K2 (the same form as K1, but may have different f) +// +// Returns: A rotation matrix that minimizes +// +// R = arg min || X2 - R * x1 || +// +void GetR_FixedCameraCenter(const Mat &x1, const Mat &x2, + const double focal, + Mat3 *R); + +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_PANOGRAPHY_H |