404 lines
35 KiB
C++
404 lines
35 KiB
C++
|
/***********************************************************
|
||
|
|
* File generated by the HALCON-Compiler hcomp version 18.05
|
||
|
|
* Usage: Interface to C++
|
||
|
|
*
|
||
|
|
* Software by: MVTec Software GmbH, www.mvtec.com
|
||
|
|
***********************************************************/
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef HCPP_HHOMMAT2D
|
||
|
|
#define HCPP_HHOMMAT2D
|
||
|
|
|
||
|
|
namespace HalconCpp
|
||
|
|
{
|
||
|
|
|
||
|
|
// Represents a homogeneous 2D transformation matrix.
|
||
|
|
class LIntExport HHomMat2D : public HDataBase
|
||
|
|
{
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
// Copy constructor
|
||
|
|
HHomMat2D(const HHomMat2D& source) : HDataBase(source) {}
|
||
|
|
|
||
|
|
// Constructor from HTuple
|
||
|
|
explicit HHomMat2D(const HTuple& tuple) : HDataBase(tuple) {}
|
||
|
|
|
||
|
|
// Deep copy of all data represented by this object instance
|
||
|
|
HHomMat2D Clone() const;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/*****************************************************************************
|
||
|
|
* Operator-based class constructors
|
||
|
|
*****************************************************************************/
|
||
|
|
|
||
|
|
// hom_mat2d_identity: Generate the homogeneous transformation matrix of the identical 2D transformation.
|
||
|
|
explicit HHomMat2D();
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/***************************************************************************
|
||
|
|
* Operators *
|
||
|
|
***************************************************************************/
|
||
|
|
|
||
|
|
// Read the geo coding from an ARC/INFO world file.
|
||
|
|
void ReadWorldFile(const HString& FileName);
|
||
|
|
|
||
|
|
// Read the geo coding from an ARC/INFO world file.
|
||
|
|
void ReadWorldFile(const char* FileName);
|
||
|
|
|
||
|
|
// Apply a projective transformation to an XLD contour.
|
||
|
|
HXLDCont ProjectiveTransContourXld(const HXLDCont& Contours) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine transformation to XLD polygons.
|
||
|
|
HXLDPoly AffineTransPolygonXld(const HXLDPoly& Polygons) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to XLD contours.
|
||
|
|
HXLDCont AffineTransContourXld(const HXLDCont& Contours) const;
|
||
|
|
|
||
|
|
// Deserialize a serialized homogeneous 2D transformation matrix.
|
||
|
|
void DeserializeHomMat2d(const HSerializedItem& SerializedItemHandle);
|
||
|
|
|
||
|
|
// Serialize a homogeneous 2D transformation matrix.
|
||
|
|
HSerializedItem SerializeHomMat2d() const;
|
||
|
|
|
||
|
|
// Perform a bundle adjustment of an image mosaic.
|
||
|
|
static HHomMat2DArray BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& Transformation, HTuple* Rows, HTuple* Cols, HTuple* Error);
|
||
|
|
|
||
|
|
// Perform a bundle adjustment of an image mosaic.
|
||
|
|
static HHomMat2DArray BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& Transformation, HTuple* Rows, HTuple* Cols, double* Error);
|
||
|
|
|
||
|
|
// Perform a bundle adjustment of an image mosaic.
|
||
|
|
static HHomMat2DArray BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const char* Transformation, HTuple* Rows, HTuple* Cols, double* Error);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix and the radial distortion coefficient between two images by finding correspondences between points based on known approximations of the projective transformation matrix and the radial distortion coefficient.
|
||
|
|
HHomMat2D ProjMatchPointsDistortionRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, double KappaGuide, double DistanceTolerance, const HTuple& MatchThreshold, const HString& EstimationMethod, const HTuple& DistanceThreshold, Hlong RandSeed, double* Kappa, double* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix and the radial distortion coefficient between two images by finding correspondences between points based on known approximations of the projective transformation matrix and the radial distortion coefficient.
|
||
|
|
HHomMat2D ProjMatchPointsDistortionRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, double KappaGuide, double DistanceTolerance, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Kappa, double* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix and the radial distortion coefficient between two images by finding correspondences between points based on known approximations of the projective transformation matrix and the radial distortion coefficient.
|
||
|
|
HHomMat2D ProjMatchPointsDistortionRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, double KappaGuide, double DistanceTolerance, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Kappa, double* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images and the radial distortion coefficient by automatically finding correspondences between points.
|
||
|
|
double ProjMatchPointsDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, const HTuple& Rotation, const HTuple& MatchThreshold, const HString& EstimationMethod, const HTuple& DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images and the radial distortion coefficient by automatically finding correspondences between points.
|
||
|
|
double ProjMatchPointsDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images and the radial distortion coefficient by automatically finding correspondences between points.
|
||
|
|
double ProjMatchPointsDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points based on a known approximation of the projective transformation matrix.
|
||
|
|
HHomMat2D ProjMatchPointsRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, double DistanceTolerance, const HTuple& MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points based on a known approximation of the projective transformation matrix.
|
||
|
|
HHomMat2D ProjMatchPointsRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, double DistanceTolerance, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points based on a known approximation of the projective transformation matrix.
|
||
|
|
HHomMat2D ProjMatchPointsRansacGuided(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, double DistanceTolerance, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points.
|
||
|
|
HTuple ProjMatchPointsRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, const HTuple& Rotation, const HTuple& MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points.
|
||
|
|
HTuple ProjMatchPointsRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix between two images by finding correspondences between points.
|
||
|
|
HTuple ProjMatchPointsRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix and the radial distortion coefficient using given image point correspondences.
|
||
|
|
double VectorToProjHomMat2dDistortion(const HTuple& Points1Row, const HTuple& Points1Col, const HTuple& Points2Row, const HTuple& Points2Col, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, Hlong ImageWidth, Hlong ImageHeight, const HString& Method, double* Error);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix and the radial distortion coefficient using given image point correspondences.
|
||
|
|
double VectorToProjHomMat2dDistortion(const HTuple& Points1Row, const HTuple& Points1Col, const HTuple& Points2Row, const HTuple& Points2Col, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, Hlong ImageWidth, Hlong ImageHeight, const char* Method, double* Error);
|
||
|
|
|
||
|
|
// Compute a homogeneous transformation matrix using given point correspondences.
|
||
|
|
void HomVectorToProjHomMat2d(const HTuple& Px, const HTuple& Py, const HTuple& Pw, const HTuple& Qx, const HTuple& Qy, const HTuple& Qw, const HString& Method);
|
||
|
|
|
||
|
|
// Compute a homogeneous transformation matrix using given point correspondences.
|
||
|
|
void HomVectorToProjHomMat2d(const HTuple& Px, const HTuple& Py, const HTuple& Pw, const HTuple& Qx, const HTuple& Qy, const HTuple& Qw, const char* Method);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix using given point correspondences.
|
||
|
|
HTuple VectorToProjHomMat2d(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy, const HString& Method, const HTuple& CovXX1, const HTuple& CovYY1, const HTuple& CovXY1, const HTuple& CovXX2, const HTuple& CovYY2, const HTuple& CovXY2);
|
||
|
|
|
||
|
|
// Compute a projective transformation matrix using given point correspondences.
|
||
|
|
HTuple VectorToProjHomMat2d(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy, const char* Method, const HTuple& CovXX1, const HTuple& CovYY1, const HTuple& CovXY1, const HTuple& CovXX2, const HTuple& CovYY2, const HTuple& CovXY2);
|
||
|
|
|
||
|
|
// Compute the affine transformation parameters from a homogeneous 2D transformation matrix.
|
||
|
|
double HomMat2dToAffinePar(double* Sy, double* Phi, double* Theta, double* Tx, double* Ty) const;
|
||
|
|
|
||
|
|
// Compute a rigid affine transformation from points and angles.
|
||
|
|
void VectorAngleToRigid(const HTuple& Row1, const HTuple& Column1, const HTuple& Angle1, const HTuple& Row2, const HTuple& Column2, const HTuple& Angle2);
|
||
|
|
|
||
|
|
// Compute a rigid affine transformation from points and angles.
|
||
|
|
void VectorAngleToRigid(double Row1, double Column1, double Angle1, double Row2, double Column2, double Angle2);
|
||
|
|
|
||
|
|
// Approximate an affine transformation from point-to-line correspondences.
|
||
|
|
void PointLineToHomMat2d(const HString& TransformationType, const HTuple& Px, const HTuple& Py, const HTuple& L1x, const HTuple& L1y, const HTuple& L2x, const HTuple& L2y);
|
||
|
|
|
||
|
|
// Approximate an affine transformation from point-to-line correspondences.
|
||
|
|
void PointLineToHomMat2d(const char* TransformationType, const HTuple& Px, const HTuple& Py, const HTuple& L1x, const HTuple& L1y, const HTuple& L2x, const HTuple& L2y);
|
||
|
|
|
||
|
|
// Approximate a rigid affine transformation from point correspondences.
|
||
|
|
void VectorToRigid(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy);
|
||
|
|
|
||
|
|
// Approximate an similarity transformation from point correspondences.
|
||
|
|
void VectorToSimilarity(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy);
|
||
|
|
|
||
|
|
// Approximate an anisotropic similarity transformation from point correspondences.
|
||
|
|
void VectorToAniso(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy);
|
||
|
|
|
||
|
|
// Approximate an affine transformation from point correspondences.
|
||
|
|
void VectorToHomMat2d(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy);
|
||
|
|
|
||
|
|
// Project pixel coordinates using a homogeneous projective transformation matrix.
|
||
|
|
void ProjectiveTransPixel(const HTuple& Row, const HTuple& Col, HTuple* RowTrans, HTuple* ColTrans) const;
|
||
|
|
|
||
|
|
// Project pixel coordinates using a homogeneous projective transformation matrix.
|
||
|
|
void ProjectiveTransPixel(double Row, double Col, double* RowTrans, double* ColTrans) const;
|
||
|
|
|
||
|
|
// Project a homogeneous 2D point using a projective transformation matrix.
|
||
|
|
HTuple ProjectiveTransPoint2d(const HTuple& Px, const HTuple& Py, const HTuple& Pw, HTuple* Qy, HTuple* Qw) const;
|
||
|
|
|
||
|
|
// Project a homogeneous 2D point using a projective transformation matrix.
|
||
|
|
double ProjectiveTransPoint2d(double Px, double Py, double Pw, double* Qy, double* Qw) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to pixel coordinates.
|
||
|
|
void AffineTransPixel(const HTuple& Row, const HTuple& Col, HTuple* RowTrans, HTuple* ColTrans) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to pixel coordinates.
|
||
|
|
void AffineTransPixel(double Row, double Col, double* RowTrans, double* ColTrans) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to points.
|
||
|
|
HTuple AffineTransPoint2d(const HTuple& Px, const HTuple& Py, HTuple* Qy) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to points.
|
||
|
|
double AffineTransPoint2d(double Px, double Py, double* Qy) const;
|
||
|
|
|
||
|
|
// Compute the determinant of a homogeneous 2D transformation matrix.
|
||
|
|
double HomMat2dDeterminant() const;
|
||
|
|
|
||
|
|
// Transpose a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dTranspose() const;
|
||
|
|
|
||
|
|
// Invert a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dInvert() const;
|
||
|
|
|
||
|
|
// Multiply two homogeneous 2D transformation matrices.
|
||
|
|
HHomMat2D HomMat2dCompose(const HHomMat2D& HomMat2DRight) const;
|
||
|
|
|
||
|
|
// Add a reflection to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dReflectLocal(const HTuple& Px, const HTuple& Py) const;
|
||
|
|
|
||
|
|
// Add a reflection to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dReflectLocal(double Px, double Py) const;
|
||
|
|
|
||
|
|
// Add a reflection to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dReflect(const HTuple& Px, const HTuple& Py, const HTuple& Qx, const HTuple& Qy) const;
|
||
|
|
|
||
|
|
// Add a reflection to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dReflect(double Px, double Py, double Qx, double Qy) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlantLocal(const HTuple& Theta, const HString& Axis) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlantLocal(double Theta, const HString& Axis) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlantLocal(double Theta, const char* Axis) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlant(const HTuple& Theta, const HString& Axis, const HTuple& Px, const HTuple& Py) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlant(double Theta, const HString& Axis, double Px, double Py) const;
|
||
|
|
|
||
|
|
// Add a slant to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dSlant(double Theta, const char* Axis, double Px, double Py) const;
|
||
|
|
|
||
|
|
// Add a rotation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dRotateLocal(const HTuple& Phi) const;
|
||
|
|
|
||
|
|
// Add a rotation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dRotateLocal(double Phi) const;
|
||
|
|
|
||
|
|
// Add a rotation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dRotate(const HTuple& Phi, const HTuple& Px, const HTuple& Py) const;
|
||
|
|
|
||
|
|
// Add a rotation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dRotate(double Phi, double Px, double Py) const;
|
||
|
|
|
||
|
|
// Add a scaling to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dScaleLocal(const HTuple& Sx, const HTuple& Sy) const;
|
||
|
|
|
||
|
|
// Add a scaling to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dScaleLocal(double Sx, double Sy) const;
|
||
|
|
|
||
|
|
// Add a scaling to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dScale(const HTuple& Sx, const HTuple& Sy, const HTuple& Px, const HTuple& Py) const;
|
||
|
|
|
||
|
|
// Add a scaling to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dScale(double Sx, double Sy, double Px, double Py) const;
|
||
|
|
|
||
|
|
// Add a translation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dTranslateLocal(const HTuple& Tx, const HTuple& Ty) const;
|
||
|
|
|
||
|
|
// Add a translation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dTranslateLocal(double Tx, double Ty) const;
|
||
|
|
|
||
|
|
// Add a translation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dTranslate(const HTuple& Tx, const HTuple& Ty) const;
|
||
|
|
|
||
|
|
// Add a translation to a homogeneous 2D transformation matrix.
|
||
|
|
HHomMat2D HomMat2dTranslate(double Tx, double Ty) const;
|
||
|
|
|
||
|
|
// Generate the homogeneous transformation matrix of the identical 2D transformation.
|
||
|
|
void HomMat2dIdentity();
|
||
|
|
|
||
|
|
// Compute the projective 3d reconstruction of points based on the fundamental matrix.
|
||
|
|
void Reconst3dFromFundamentalMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const HTuple& CovFMat, HTuple* X, HTuple* Y, HTuple* Z, HTuple* W, HTuple* CovXYZW) const;
|
||
|
|
|
||
|
|
// Compute the projective 3d reconstruction of points based on the fundamental matrix.
|
||
|
|
void Reconst3dFromFundamentalMatrix(double Rows1, double Cols1, double Rows2, double Cols2, double CovRR1, double CovRC1, double CovCC1, double CovRR2, double CovRC2, double CovCC2, const HTuple& CovFMat, double* X, double* Y, double* Z, double* W, double* CovXYZW) const;
|
||
|
|
|
||
|
|
// Compute the projective rectification of weakly calibrated binocular stereo images.
|
||
|
|
HImage GenBinocularProjRectification(HImage* Map2, const HTuple& CovFMat, Hlong Width1, Hlong Height1, Hlong Width2, Hlong Height2, const HTuple& SubSampling, const HString& Mapping, HTuple* CovFMatRect, HHomMat2D* H1, HHomMat2D* H2) const;
|
||
|
|
|
||
|
|
// Compute the projective rectification of weakly calibrated binocular stereo images.
|
||
|
|
HImage GenBinocularProjRectification(HImage* Map2, const HTuple& CovFMat, Hlong Width1, Hlong Height1, Hlong Width2, Hlong Height2, Hlong SubSampling, const HString& Mapping, HTuple* CovFMatRect, HHomMat2D* H1, HHomMat2D* H2) const;
|
||
|
|
|
||
|
|
// Compute the projective rectification of weakly calibrated binocular stereo images.
|
||
|
|
HImage GenBinocularProjRectification(HImage* Map2, const HTuple& CovFMat, Hlong Width1, Hlong Height1, Hlong Width2, Hlong Height2, Hlong SubSampling, const char* Mapping, HTuple* CovFMatRect, HHomMat2D* H1, HHomMat2D* H2) const;
|
||
|
|
|
||
|
|
// Compute the fundamental matrix and the radial distortion coefficient given a set of image point correspondences and reconstruct 3D points.
|
||
|
|
double VectorToFundamentalMatrixDistortion(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, Hlong ImageWidth, Hlong ImageHeight, const HString& Method, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* W);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix and the radial distortion coefficient given a set of image point correspondences and reconstruct 3D points.
|
||
|
|
double VectorToFundamentalMatrixDistortion(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, Hlong ImageWidth, Hlong ImageHeight, const char* Method, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* W);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix from the relative orientation of two cameras.
|
||
|
|
HTuple RelPoseToFundamentalMatrix(const HPose& RelPose, const HTuple& CovRelPose, const HCamPar& CamPar1, const HCamPar& CamPar2);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix from an essential matrix.
|
||
|
|
HHomMat2D EssentialToFundamentalMatrix(const HTuple& CovEMat, const HHomMat2D& CamMat1, const HHomMat2D& CamMat2, HTuple* CovFMat) const;
|
||
|
|
|
||
|
|
// Compute the essential matrix given image point correspondences and known camera matrices and reconstruct 3D points.
|
||
|
|
HHomMat2D VectorToEssentialMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const HHomMat2D& CamMat2, const HString& Method, HTuple* CovEMat, HTuple* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* CovXYZ) const;
|
||
|
|
|
||
|
|
// Compute the essential matrix given image point correspondences and known camera matrices and reconstruct 3D points.
|
||
|
|
HHomMat2D VectorToEssentialMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const HHomMat2D& CamMat2, const HString& Method, HTuple* CovEMat, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* CovXYZ) const;
|
||
|
|
|
||
|
|
// Compute the essential matrix given image point correspondences and known camera matrices and reconstruct 3D points.
|
||
|
|
HHomMat2D VectorToEssentialMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const HHomMat2D& CamMat2, const char* Method, HTuple* CovEMat, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* CovXYZ) const;
|
||
|
|
|
||
|
|
// Compute the fundamental matrix given a set of image point correspondences and reconstruct 3D points.
|
||
|
|
HTuple VectorToFundamentalMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const HString& Method, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* W, HTuple* CovXYZW);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix given a set of image point correspondences and reconstruct 3D points.
|
||
|
|
HTuple VectorToFundamentalMatrix(const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& CovRR1, const HTuple& CovRC1, const HTuple& CovCC1, const HTuple& CovRR2, const HTuple& CovRC2, const HTuple& CovCC2, const char* Method, double* Error, HTuple* X, HTuple* Y, HTuple* Z, HTuple* W, HTuple* CovXYZW);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix and the radial distortion coefficient for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
double MatchFundamentalMatrixDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, const HTuple& Rotation, const HTuple& MatchThreshold, const HString& EstimationMethod, const HTuple& DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix and the radial distortion coefficient for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
double MatchFundamentalMatrixDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix and the radial distortion coefficient for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
double MatchFundamentalMatrixDistortionRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute the essential matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HHomMat2D MatchEssentialMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HHomMat2D& CamMat2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, const HTuple& Rotation, const HTuple& MatchThreshold, const HString& EstimationMethod, const HTuple& DistanceThreshold, Hlong RandSeed, HTuple* CovEMat, HTuple* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute the essential matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HHomMat2D MatchEssentialMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HHomMat2D& CamMat2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* CovEMat, double* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute the essential matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HHomMat2D MatchEssentialMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HHomMat2D& CamMat2, const char* GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, HTuple* CovEMat, double* Error, HTuple* Points1, HTuple* Points2) const;
|
||
|
|
|
||
|
|
// Compute the fundamental matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HTuple MatchFundamentalMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, const HTuple& Rotation, const HTuple& MatchThreshold, const HString& EstimationMethod, const HTuple& DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HTuple MatchFundamentalMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HString& GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const HString& EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Compute the fundamental matrix for a pair of stereo images by automatically finding correspondences between image points.
|
||
|
|
HTuple MatchFundamentalMatrixRansac(const HImage& Image1, const HImage& Image2, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const char* GrayMatchMethod, Hlong MaskSize, Hlong RowMove, Hlong ColMove, Hlong RowTolerance, Hlong ColTolerance, double Rotation, Hlong MatchThreshold, const char* EstimationMethod, double DistanceThreshold, Hlong RandSeed, double* Error, HTuple* Points1, HTuple* Points2);
|
||
|
|
|
||
|
|
// Apply a projective transformation to a region.
|
||
|
|
HRegion ProjectiveTransRegion(const HRegion& Regions, const HString& Interpolation) const;
|
||
|
|
|
||
|
|
// Apply a projective transformation to a region.
|
||
|
|
HRegion ProjectiveTransRegion(const HRegion& Regions, const char* Interpolation) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to regions.
|
||
|
|
HRegion AffineTransRegion(const HRegion& Region, const HString& Interpolate) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to regions.
|
||
|
|
HRegion AffineTransRegion(const HRegion& Region, const char* Interpolate) const;
|
||
|
|
|
||
|
|
// Apply a projective transformation to an image and specify the output image size.
|
||
|
|
HImage ProjectiveTransImageSize(const HImage& Image, const HString& Interpolation, Hlong Width, Hlong Height, const HString& TransformDomain) const;
|
||
|
|
|
||
|
|
// Apply a projective transformation to an image and specify the output image size.
|
||
|
|
HImage ProjectiveTransImageSize(const HImage& Image, const char* Interpolation, Hlong Width, Hlong Height, const char* TransformDomain) const;
|
||
|
|
|
||
|
|
// Apply a projective transformation to an image.
|
||
|
|
HImage ProjectiveTransImage(const HImage& Image, const HString& Interpolation, const HString& AdaptImageSize, const HString& TransformDomain) const;
|
||
|
|
|
||
|
|
// Apply a projective transformation to an image.
|
||
|
|
HImage ProjectiveTransImage(const HImage& Image, const char* Interpolation, const char* AdaptImageSize, const char* TransformDomain) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to an image and specify the output image size.
|
||
|
|
HImage AffineTransImageSize(const HImage& Image, const HString& Interpolation, Hlong Width, Hlong Height) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to an image and specify the output image size.
|
||
|
|
HImage AffineTransImageSize(const HImage& Image, const char* Interpolation, Hlong Width, Hlong Height) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to images.
|
||
|
|
HImage AffineTransImage(const HImage& Image, const HString& Interpolation, const HString& AdaptImageSize) const;
|
||
|
|
|
||
|
|
// Apply an arbitrary affine 2D transformation to images.
|
||
|
|
HImage AffineTransImage(const HImage& Image, const char* Interpolation, const char* AdaptImageSize) const;
|
||
|
|
|
||
|
|
// Approximate an affine map from a displacement vector field.
|
||
|
|
void VectorFieldToHomMat2d(const HImage& VectorField);
|
||
|
|
|
||
|
|
// Compute a camera matrix from internal camera parameters.
|
||
|
|
void CamParToCamMat(const HCamPar& CameraParam, Hlong* ImageWidth, Hlong* ImageHeight);
|
||
|
|
|
||
|
|
// Compute the internal camera parameters from a camera matrix.
|
||
|
|
HCamPar CamMatToCamPar(double Kappa, Hlong ImageWidth, Hlong ImageHeight) const;
|
||
|
|
|
||
|
|
// Perform a self-calibration of a stationary projective camera.
|
||
|
|
static HHomMat2DArray StationaryCameraSelfCalibration(Hlong NumImages, Hlong ImageWidth, Hlong ImageHeight, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& EstimationMethod, const HTuple& CameraModel, const HString& FixedCameraParams, HTuple* Kappa, HHomMat2DArray* RotationMatrices, HTuple* X, HTuple* Y, HTuple* Z, HTuple* Error);
|
||
|
|
|
||
|
|
// Perform a self-calibration of a stationary projective camera.
|
||
|
|
static HHomMat2DArray StationaryCameraSelfCalibration(Hlong NumImages, Hlong ImageWidth, Hlong ImageHeight, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& EstimationMethod, const HTuple& CameraModel, const HString& FixedCameraParams, double* Kappa, HHomMat2DArray* RotationMatrices, HTuple* X, HTuple* Y, HTuple* Z, double* Error);
|
||
|
|
|
||
|
|
// Perform a self-calibration of a stationary projective camera.
|
||
|
|
static HHomMat2DArray StationaryCameraSelfCalibration(Hlong NumImages, Hlong ImageWidth, Hlong ImageHeight, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const char* EstimationMethod, const HTuple& CameraModel, const char* FixedCameraParams, double* Kappa, HHomMat2DArray* RotationMatrices, HTuple* X, HTuple* Y, HTuple* Z, double* Error);
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
class LIntExport HHomMat2DArray : public HDataArray
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
HHomMat2DArray();
|
||
|
|
HHomMat2DArray(HHomMat2D* classes, Hlong length);
|
||
|
|
/* Define a default constructor to prevent compilers that support
|
||
|
|
* C++11 R-Value References v3.0 declaring an implicite move
|
||
|
|
* assignment/constructor. */
|
||
|
|
~HHomMat2DArray() {}
|
||
|
|
protected:
|
||
|
|
virtual void CreateArray(Hlong length);
|
||
|
|
virtual int GetFixedSize();
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|