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fundamental_matrix.h
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fundamental_matrix.h
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/*ckwg +29
* Copyright 2015 by Kitware, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither name of Kitware, Inc. nor the names of any contributors may be used
* to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file
* \brief Core fundamental matrix class definition
*/
#ifndef VITAL_FUNDAMENTAL_MATRIX_H_
#define VITAL_FUNDAMENTAL_MATRIX_H_
#include <vital/vital_export.h>
#include <vital/vital_config.h>
#include <vital/vital_types.h>
#include <vital/types/matrix.h>
#include <vital/types/vector.h>
#include <iostream>
#include <map>
#include <vector>
#include <memory>
namespace kwiver {
namespace vital {
// Forward declarations of abstract fundamental matrix class
class fundamental_matrix;
// typedef for a fundamental_matrix shared pointer
typedef std::shared_ptr< fundamental_matrix > fundamental_matrix_sptr;
// ===========================================================================
// Fundmental Matrix Base-class
// ---------------------------------------------------------------------------
/// Abstract base fundamental matrix representation class
class VITAL_EXPORT fundamental_matrix
{
public:
/// Destructor
virtual ~fundamental_matrix() = default;
/// Create a clone of this fundamental_matrix object, returning as smart pointer
/**
* \return A new deep clone of this fundamental_matrix
*/
virtual fundamental_matrix_sptr clone() const = 0;
/// Get a double-typed copy of the underlying matrix
/**
* \return A copy of the matrix represented in the double type.
*/
virtual matrix_3x3d matrix() const = 0;
};
// ===========================================================================
// Typed Fundmental Matrix
// ---------------------------------------------------------------------------
/// Representation of a templated Eigen-based fundamental matrix
template <typename T>
class VITAL_EXPORT fundamental_matrix_
: public fundamental_matrix
{
public:
typedef T value_type;
typedef Eigen::Matrix<T,3,3> matrix_t;
typedef Eigen::Matrix<T,3,1> vector_t;
/// Construct from a provided matrix by projection.
/** Decompose and find closest fundamental matrix to the input \p mat.
* \param mat The 3x3 matrix to use.
*/
explicit
fundamental_matrix_<T>( matrix_t const &mat );
/// Conversion Copy constructor
/**
* \param other The other fundamental_matrix to be copied.
*/
template <typename U>
explicit
fundamental_matrix_<T>( fundamental_matrix_<U> const &other )
: mat_( other.mat_.template cast<T>() )
{
}
/// Construct from a generic fundamental_matrix
explicit
fundamental_matrix_<T>( fundamental_matrix const &base );
// Abstract method definitions ---------------------------------------------
/// Create a clone of ourself as a shared pointer
/**
* \return A new clone of this fundamental_matrix.
*/
virtual fundamental_matrix_sptr clone() const;
/// Get a double-typed copy of the underlying matrix
/**
* \return A copy of the matrix represented in the double type.
*/
virtual Eigen::Matrix<double,3,3> matrix() const;
// Member Functions --------------------------------------------------------
protected:
/// the 3x3 matrix used to represent the fundamental matrix
matrix_t mat_;
};
/// Double-precision camera type
typedef fundamental_matrix_<double> fundamental_matrix_d;
/// Single-precision camera type
typedef fundamental_matrix_<float> fundamental_matrix_f;
// ===========================================================================
// Utility Functions
// ---------------------------------------------------------------------------
/// Output stream operator for \p fundamental_matrix base-class
VITAL_EXPORT std::ostream& operator<<( std::ostream &s,
fundamental_matrix const &f );
} } // end namespace vital
#endif // VITAL_FUNDAMENTAL_MATRIX_H_