forked from Kitware/kwiver
-
Notifications
You must be signed in to change notification settings - Fork 0
/
homography_f2f.cxx
131 lines (113 loc) · 3.56 KB
/
homography_f2f.cxx
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
/*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 Frame to Frame Homography implementation
*/
#include "homography_f2f.h"
#include <vital/exceptions/math.h>
#include <vital/vital_types.h>
namespace kwiver {
namespace vital {
/// Construct an identity homography for the given frame
f2f_homography
::f2f_homography( frame_id_t const frame_id )
: h_( homography_sptr( new homography_<double>() ) ),
from_id_( frame_id ),
to_id_( frame_id )
{
}
/// Construct a frame to frame homography given an existing transform
f2f_homography
::f2f_homography( homography_sptr const &h,
frame_id_t const from_id,
frame_id_t const to_id )
: h_( h->clone() ),
from_id_( from_id ),
to_id_( to_id )
{
}
/// Copy constructor
f2f_homography
::f2f_homography( f2f_homography const &h )
: h_( h.h_->clone() ),
from_id_( h.from_id_ ),
to_id_( h.to_id_ )
{
}
/// Get the homography transformation
homography_sptr
f2f_homography
::homography() const
{
return this->h_;
}
/// Frame identifier that the homography maps from.
frame_id_t
f2f_homography
::from_id() const
{
return this->from_id_;
}
/// Frame identifier that the homography maps to.
frame_id_t
f2f_homography
::to_id() const
{
return this->to_id_;
}
/// Return a new inverse \p f2f_homography instance
f2f_homography
f2f_homography
::inverse() const
{
return f2f_homography( this->h_->inverse(), this->to_id_, this->from_id_ );
}
/// Custom f2f_homography multiplication operator for \p f2f_homography
f2f_homography
f2f_homography
::operator*( f2f_homography const &rhs )
{
if( this->from_id() != rhs.to_id() )
{
throw invalid_matrix_operation( "Homography frame identifiers do not match up" );
}
Eigen::Matrix<double,3,3> new_h = this->h_->matrix() * rhs.h_->matrix();
return f2f_homography( new_h, rhs.from_id(), this->to_id() );
}
/// \p f2f_homography output stream operator
std::ostream&
operator<<( std::ostream &s, f2f_homography const &h )
{
s << h.from_id() << " -> " << h.to_id() << "\n"
<< *h.homography();
return s;
}
} } // end vital namespace