[37] | 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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| 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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| 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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