1 | //-*-c++-*- |
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2 | |
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3 | #ifndef _RECTIFY_EXTRAS_H |
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4 | #define _RECTIFY_EXTRAS_H |
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5 | |
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6 | #include <assert.h> |
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7 | |
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8 | // This files contains all the code I've had to cannabilise out of my home made libraries. |
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9 | // Not a neat job - really most of these datatypes are fundamentally unnecessary and should be replaced by simple 1D arrays |
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10 | // But I can't be bothered. |
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11 | |
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12 | /*******************************/ |
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13 | /* Images and matrices */ |
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14 | |
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15 | |
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16 | |
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17 | /* |
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18 | |
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19 | // EXAMPLE! |
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20 | // If you want to use your image type directly then you can use an adaptor as below. |
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21 | // This example shows adaption of a user image type MyImage that has equivalent functions |
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22 | // recreate, isrgb, getpixel, xdim, ydim |
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23 | |
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24 | namespace Image { |
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25 | |
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26 | class ImageAdaptor { |
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27 | protected: |
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28 | |
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29 | MyImage ℑ |
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30 | |
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31 | public: |
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32 | |
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33 | typedef unsigned int value_type; |
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34 | |
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35 | ImageAdaptor(MyImage &im) : image(im) {} |
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36 | |
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37 | void resize(size_t w, size_t h, bool iscol) { |
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38 | image.recreate(w,h); |
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39 | } |
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40 | |
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41 | inline unsigned int& operator()(size_t x, size_t y) { return image.getpix(x,y); } |
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42 | inline const unsigned int& operator()(size_t x, size_t y) const { return image.getpix(x,y); } |
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43 | |
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44 | bool isColour() const { return image.isrgb(); } |
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45 | |
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46 | inline size_t xsize() const { return image.xdim(); } |
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47 | inline size_t ysize() const { return image.ydim(); } |
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48 | } |
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49 | } |
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50 | */ |
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51 | |
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52 | |
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53 | |
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54 | |
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55 | namespace Image { |
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56 | |
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57 | /* |
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58 | This class demonstrates all the functionality an image class must offer if it is to be supplied to the rectification routines |
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59 | It works as a standalone very very basic image class too. |
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60 | If you have an image class then simply use this as a wrapper (i.e. make the constructor take your image class and redirect |
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61 | all other functions to your class). See above for an example |
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62 | */ |
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63 | template <class T=unsigned int> |
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64 | class Image { |
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65 | protected: |
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66 | |
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67 | T *data; |
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68 | size_t xs, ys; |
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69 | bool iscolour; |
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70 | |
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71 | public: |
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72 | |
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73 | |
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74 | /// The type of object stored in the container |
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75 | typedef T value_type; |
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76 | |
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77 | Image() : data(NULL), xs(0), ys(0), iscolour(false) { } |
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78 | Image(size_t w, size_t h, bool colour) : data(new T[w*h]), xs(w), ys(h), iscolour(colour) { |
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79 | assert(w>0 && h>0); |
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80 | } |
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81 | |
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82 | ~Image() { |
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83 | if (data!=NULL) |
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84 | delete[] data; |
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85 | } |
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86 | void resize(size_t w, size_t h, bool iscol) { |
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87 | assert(w>0 && h>0); |
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88 | iscolour=iscol; |
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89 | if (w!=xs || h!=ys) { |
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90 | if (data!=NULL) |
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91 | delete[] data; |
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92 | |
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93 | xs=w; ys=h; |
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94 | data=new T[xs*ys]; |
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95 | } |
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96 | } |
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97 | |
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98 | inline T& operator()(size_t x, size_t y) { |
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99 | return data[x+y*xs]; |
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100 | } |
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101 | inline const T& operator()(size_t x, size_t y) const { |
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102 | return data[x+y*xs]; |
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103 | } |
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104 | |
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105 | bool isColour() const { return iscolour; } |
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106 | |
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107 | inline size_t xsize() const { return xs; } |
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108 | inline size_t ysize() const { return ys; } |
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109 | |
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110 | }; |
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111 | |
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112 | } |
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113 | |
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114 | namespace MatVec { |
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115 | |
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116 | template <class T> |
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117 | class Matrix { |
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118 | protected: |
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119 | |
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120 | T *data; |
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121 | size_t nrows, ncols, length; |
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122 | bool iscolour; |
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123 | |
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124 | void copy(const Matrix<T> &Other) { |
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125 | resize(Other.nrows, Other.ncols, Other.iscolour); |
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126 | if (length!=0) { |
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127 | T *begin=Other.data, *end=Other.data+length, *out=data; |
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128 | for (;begin<end;) |
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129 | *out++=*begin++; |
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130 | } |
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131 | } |
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132 | |
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133 | public: |
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134 | |
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135 | /// The type of object stored in the container |
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136 | typedef T value_type; |
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137 | |
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138 | Matrix() : data(NULL), nrows(0), ncols(0), length(0), iscolour(false) { } |
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139 | Matrix(size_t nrows_, size_t ncols_) : data(new T[nrows_*ncols_]), nrows(nrows_), ncols(ncols_), length(nrows_*ncols) { |
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140 | assert(nrows>0 && ncols>0); |
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141 | } |
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142 | /// Copy constructor. Performs a deep copy |
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143 | Matrix(const Matrix<T> &Other) : data(NULL), nrows(0), ncols(0), length(0) { copy(Other); } |
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144 | /// Allow = assignment |
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145 | Matrix<T>& operator=(const Matrix<T> &Other) { copy(Other); return *this;} |
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146 | |
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147 | ~Matrix() { |
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148 | if (data!=NULL) |
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149 | delete[] data; |
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150 | } |
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151 | |
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152 | void resize(size_t w, size_t h, bool colour) { |
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153 | iscolour=colour; |
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154 | assert(w>0 && h>0); |
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155 | if (w!=nrows || h!=ncols) { |
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156 | if (data!=NULL) |
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157 | delete[] data; |
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158 | |
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159 | nrows=w; ncols=h; length=nrows*ncols; |
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160 | data=new T[nrows*ncols]; |
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161 | } |
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162 | } |
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163 | |
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164 | inline T& operator()(size_t x, size_t y) { |
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165 | assert(x<nrows && y<ncols); |
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166 | return data[x+y*nrows]; |
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167 | } |
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168 | inline const T& operator()(size_t x, size_t y) const { |
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169 | assert(x<nrows && y<ncols); |
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170 | return data[x+y*nrows]; |
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171 | } |
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172 | |
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173 | inline size_t num_rows() const { return nrows; } |
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174 | inline size_t num_cols() const { return ncols; } |
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175 | }; |
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176 | |
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177 | } |
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178 | |
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179 | namespace MultiViewGeom { |
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180 | |
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181 | template <class T> |
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182 | class FMatrix: public MatVec::Matrix<T> { |
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183 | public: |
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184 | |
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185 | FMatrix() : MatVec::Matrix<T>(3,3) {} |
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186 | }; |
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187 | |
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188 | } |
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189 | |
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190 | |
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191 | |
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192 | |
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193 | |
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194 | |
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195 | |
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196 | |
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198 | |
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199 | |
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201 | |
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202 | |
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203 | |
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204 | |
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205 | |
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207 | |
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208 | |
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210 | |
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211 | |
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212 | |
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213 | |
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214 | |
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215 | |
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216 | |
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217 | /*******************************/ |
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218 | /* Geometry */ |
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219 | |
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220 | |
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221 | namespace Geometry { |
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222 | |
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223 | /*! \brief Very very simple point classes |
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224 | */ |
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225 | |
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226 | template <class T> |
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227 | class Point2D { |
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228 | private: |
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229 | T vals[2]; |
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230 | |
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231 | public: |
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232 | typedef T value_type; |
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233 | |
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234 | Point2D() {} |
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235 | Point2D(T x, T y) { vals[0]=x; vals[1]=y; } |
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236 | Point2D(const Point2D<T> &P) { vals[0]=P.vals[0]; vals[1]=P.vals[1]; } |
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237 | /// Specialised = assignment (for efficiency and to stop cfront errors). |
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238 | Point2D &operator=(const Point2D<T> &P) { |
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239 | vals[0]=P.vals[0]; vals[1]=P.vals[1]; |
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240 | return *this; |
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241 | } |
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242 | |
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243 | /// Get direct access to x |
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244 | inline T& x() { return vals[0]; } |
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245 | /// Get direct access to x |
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246 | inline T& y() { return vals[1]; } |
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247 | /// Can't overwrite access to x |
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248 | inline const T& x() const { return vals[0]; } |
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249 | /// Can't overwrite access to x |
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250 | inline const T& y() const { return vals[1]; } |
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251 | |
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252 | inline size_t size() const { return 2; } |
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253 | inline T& operator[](size_t n) { assert(n<2); return vals[n]; } |
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254 | inline const T& operator[](size_t n) const { assert(n<2); return vals[n]; } |
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255 | }; |
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256 | |
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257 | template <class T> |
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258 | class Homg2DPoint { |
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259 | private: |
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260 | T vals[3]; |
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261 | |
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262 | public: |
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263 | typedef T value_type; |
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264 | |
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265 | Homg2DPoint() { vals[0]=0; vals[1]=0; vals[2]=0;} |
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266 | Homg2DPoint(T x, T y, T w) { vals[0]=x; vals[1]=y; vals[2]=w;} |
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267 | Homg2DPoint(const Homg2DPoint<T> &P) { vals[0]=P.vals[0]; vals[1]=P.vals[1]; vals[2]=P.vals[2]; } |
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268 | /// Specialised = assignment (for efficiency and to stop cfront errors). |
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269 | Homg2DPoint &operator=(const Homg2DPoint<T> &P) { vals[0]=P.vals[0]; vals[1]=P.vals[1]; vals[2]=P.vals[2]; return *this; } |
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270 | |
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271 | inline T& x() { return vals[0]; } |
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272 | inline T& y() { return vals[1]; } |
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273 | inline T& w() { return vals[2]; } |
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274 | inline const T& x() const { return vals[0]; } |
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275 | inline const T& y() const { return vals[1]; } |
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276 | inline const T& w() const { return vals[2]; } |
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277 | |
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278 | inline T& operator[](size_t n) { assert(n<3); return vals[n]; } |
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279 | inline const T& operator[](size_t n) const { assert(n<3); return vals[n]; } |
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280 | |
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281 | inline size_t size() const { return 3; } |
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282 | }; |
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283 | |
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284 | template <class T> |
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285 | class Line2D { |
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286 | private: |
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287 | T vals[3]; |
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288 | |
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289 | public: |
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290 | typedef T value_type; |
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291 | |
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292 | Line2D() { } |
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293 | Line2D(T a, T b, T c) { vals[0]=a; vals[1]=b; vals[2]=c;} |
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294 | Line2D(const Line2D<T> &P) { vals[0]=P.vals[0]; vals[1]=P.vals[1]; vals[2]=P.vals[2]; } |
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295 | /// Specialised = assignment (for efficiency and to stop cfront errors). |
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296 | Line2D &operator=(const Line2D<T> &P) { vals[0]=P.vals[0]; vals[1]=P.vals[1]; vals[2]=P.vals[2]; return *this; } |
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297 | |
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298 | inline T& a() { return vals[0]; } |
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299 | inline T& b() { return vals[1]; } |
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300 | inline T& c() { return vals[2]; } |
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301 | inline const T& a() const { return vals[0]; } |
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302 | inline const T& b() const { return vals[1]; } |
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303 | inline const T& c() const { return vals[2]; } |
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304 | |
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305 | inline size_t size() const { return 3; } |
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306 | inline T& operator[](size_t n) { assert(n<3); return vals[n]; } |
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307 | inline const T& operator[](size_t n) const { assert(n<3); return vals[n]; } |
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308 | }; |
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309 | |
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310 | } |
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311 | |
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312 | |
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313 | |
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314 | |
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315 | |
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316 | |
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317 | |
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318 | |
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319 | |
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320 | |
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321 | |
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330 | |
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331 | |
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332 | |
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333 | |
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334 | |
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335 | |
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336 | |
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337 | /*******************************/ |
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338 | /*! Calculate homographies that are consistant with a particular fundamental matrix. These use extra matches to select a homography from the 3 parameter family that produce a mapping that is consistant with the fundamental matrix (i.e. homographies that map points on epipolar lines to points on epipolar lines). |
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339 | */ |
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340 | namespace HomogConsistF { |
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341 | |
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342 | void RANSAC(const std::vector<std::pair<Geometry::Point2D<double>, Geometry::Point2D<double> > > &Matches, |
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343 | std::vector<std::pair<Geometry::Point2D<double>, Geometry::Point2D<double> > > &OutlierFree, |
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344 | MatVec::Matrix<double> &H, const MultiViewGeom::FMatrix<double> &FM); |
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345 | |
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346 | } |
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347 | |
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348 | |
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349 | // ****************** |
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350 | // NUMERICAL ROUTINES |
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351 | // ****************** |
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352 | |
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353 | namespace MatrixOps { |
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354 | |
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355 | extern void EigenValVec_Symmetric(const MatVec::Matrix<double> &A, double *EigenVals, MatVec::Matrix<double> &EigenVecs); |
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356 | extern bool inverse(const MatVec::Matrix<double> &A, MatVec::Matrix<double> &AInv); |
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357 | } |
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358 | |
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359 | namespace LAPACK { |
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360 | |
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361 | // allow version with vectors. NOTE: B & X Can safely be the same vector |
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362 | // Overwrites A |
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363 | extern bool LeastSquaresRankDeff(MatVec::Matrix<double>& A, const double *B, double *X); |
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364 | |
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365 | } |
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366 | |
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367 | /** This function can be called to get the median from the given iterator range. Assumes is unsorted. */ |
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368 | namespace MiscMath { |
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369 | |
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370 | extern double VectorMedian(double *VecBegin, double *VecEnd); |
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371 | |
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372 | } |
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373 | |
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374 | #endif |
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