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// 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.
//
// Compute the projection matrix from a set of 3D points X and their
// projections x = PX in 2D. This is useful if a point cloud is reconstructed.
//
// Algorithm is the standard DLT as described in Hartley & Zisserman, page 179.
#ifndef LIBMV_MULTIVIEW_RESECTION_H
#define LIBMV_MULTIVIEW_RESECTION_H
#include "libmv/logging/logging.h"
#include "libmv/numeric/numeric.h"
namespace libmv {
namespace resection {
// x's are 2D image coordinates, (x,y,1), and X's are homogeneous four vectors.
template <typename T>
void Resection(const Matrix<T, 2, Dynamic>& x,
const Matrix<T, 4, Dynamic>& X,
Matrix<T, 3, 4>* P) {
int N = x.cols();
assert(X.cols() == N);
Matrix<T, Dynamic, 12> design(2 * N, 12);
design.setZero();
for (int i = 0; i < N; i++) {
T xi = x(0, i);
T yi = x(1, i);
// See equation (7.2) on page 179 of H&Z.
design.template block<1, 4>(2 * i, 4) = -X.col(i).transpose();
design.template block<1, 4>(2 * i, 8) = yi * X.col(i).transpose();
design.template block<1, 4>(2 * i + 1, 0) = X.col(i).transpose();
design.template block<1, 4>(2 * i + 1, 8) = -xi * X.col(i).transpose();
}
Matrix<T, 12, 1> p;
Nullspace(&design, &p);
reshape(p, 3, 4, P);
}
} // namespace resection
} // namespace libmv
#endif // LIBMV_MULTIVIEW_RESECTION_H
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