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// Copyright (c) 2011 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_HOMOGRAPHY_H_
#define LIBMV_MULTIVIEW_HOMOGRAPHY_H_
#include "libmv/numeric/numeric.h"
namespace libmv {
/**
* 2D homography transformation estimation.
*
* This function estimates the homography transformation from a list of 2D
* correspondences which represents either:
*
* - 3D points on a plane, with a general moving camera.
* - 3D points with a rotating camera (pure rotation).
* - 3D points + different planar projections
*
* \param x1 The first 2xN or 3xN matrix of euclidean or homogeneous points.
* \param x2 The second 2xN or 3xN matrix of euclidean or homogeneous points.
* \param H The 3x3 homography transformation matrix (8 dof) such that
* x2 = H * x1 with |a b c|
* H = |d e f|
* |g h 1|
* \param expected_precision The expected precision in order for instance
* to accept almost homography matrices.
*
* \return True if the transformation estimation has succeeded.
* \note There must be at least 4 non-colinear points.
*/
bool Homography2DFromCorrespondencesLinear(const Mat &x1,
const Mat &x2,
Mat3 *H,
double expected_precision =
EigenDouble::dummy_precision());
/**
* 3D Homography transformation estimation.
*
* This function can be used in order to estimate the homography transformation
* from a list of 3D correspondences.
*
* \param[in] x1 The first 4xN matrix of homogeneous points
* \param[in] x2 The second 4xN matrix of homogeneous points
* \param[out] H The 4x4 homography transformation matrix (15 dof) such that
* x2 = H * x1 with |a b c d|
* H = |e f g h|
* |i j k l|
* |m n o 1|
* \param[in] expected_precision The expected precision in order for instance
* to accept almost homography matrices.
*
* \return true if the transformation estimation has succeeded
*
* \note Need at least 5 non coplanar points
* \note Points coordinates must be in homogeneous coordinates
*/
bool Homography3DFromCorrespondencesLinear(const Mat &x1,
const Mat &x2,
Mat4 *H,
double expected_precision =
EigenDouble::dummy_precision());
/**
* Calculate symmetric geometric cost:
*
* D(H * x1, x2)^2 + D(H^-1 * x2, x1)
*/
double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2);
} // namespace libmv
#endif // LIBMV_MULTIVIEW_HOMOGRAPHY_H_
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