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projective_registration.hxx VIGRA

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35 
36 #ifndef VIGRA_PROJECTIVE_REGISTRATION_HXX
37 #define VIGRA_PROJECTIVE_REGISTRATION_HXX
38 
39 #include "mathutil.hxx"
40 #include "matrix.hxx"
41 #include "linear_solve.hxx"
42 #include "tinyvector.hxx"
43 #include "splineimageview.hxx"
44 
45 namespace vigra
46 {
47 
48 /** \addtogroup Registration Image Registration
49  */
50 //@{
51 
52 /********************************************************/
53 /* */
54 /* projectiveMatrix2DFromCorrespondingPoints */
55 /* */
56 /********************************************************/
57 
58 /** \brief Create homogeneous matrix that maps corresponding points onto each other.
59 
60  For use with \ref projectiveWarpImage(). Since four corresponding points are needed to be given,
61  the matrix will compute a full projective transform.
62  */
63 template <class SrcPointIterator, class DestPointIterator>
64 linalg::TemporaryMatrix<double>
65 projectiveMatrix2DFromCorrespondingPoints(SrcPointIterator s, SrcPointIterator send, DestPointIterator d)
66 {
67  //Calculate the matrix using least squares of all points of points like the result is:
68  // ( x2 ) ( s_x r1 t_x ) ( x1 )
69  // ( y2 ) = ( r2 s_y t_y ) * ( y1 )
70  // ( 1 ) ( p1 p2 1 ) ( 1 )
71  int size = send - s;
72 
73  vigra_assert(size >= 4,
74  "projectiveMatrix2DFromCorrespondingPoints(): need at least four corresponding points.");
75 
76  vigra::Matrix<double> A(2*size,8, 0.0), b(2*size,1), res(8,1);
77  for (int i =0; i<size; ++i, ++s, ++d)
78  {
79  //m_00 m_01 m_02 m_10 m_11 m_12 m_20 m_21
80  //------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
81  A(i,0)=(*d)[0]; A(i,1)=(*d)[1]; A(i,2)=1; A(i,3)=0; A(i,4)=0; A(i,5)=0; A(i,6)=-1*((*d)[0])*((*s)[0]); A(i,7)=-1*((*d)[1])*((*s)[0]);
82  b(i,0)=(*s)[0];
83 
84  A(size+i,0)=0; A(size+i,1)=0; A(size+i,2)=0; A(size+i,3)=(*d)[0]; A(size+i,4)=(*d)[1]; A(size+i,5)=1; A(size+i,6)=-1*((*d)[0])*((*s)[1]); A(size+i,7)=-1*((*d)[1])*((*s)[1]);
85  b(size+i,0)=(*s)[1];
86 
87  }
88 
89  bool solvable = linearSolve(A, b, res);
90  // silence unused variable warning in release mode
91  static_cast<void>(solvable);
92  vigra_assert(solvable,
93  "projectiveMatrix2DFromCorrespondingPoints(): singular solution matrix.");
94 
95  linalg::TemporaryMatrix<double> projectiveMat(3,3);
96  projectiveMat(0,0) = res(0,0); projectiveMat(0,1) = res(1,0); projectiveMat(0,2) = res(2,0);
97  projectiveMat(1,0) = res(3,0); projectiveMat(1,1) = res(4,0); projectiveMat(1,2) = res(5,0);
98  projectiveMat(2,0) = res(6,0); projectiveMat(2,1) = res(7,0); projectiveMat(2,2) = 1;
99 
100  return projectiveMat;
101 }
102 
103 /********************************************************/
104 /* */
105 /* projectiveWarpImage */
106 /* */
107 /********************************************************/
108 
109 /** \brief Warp an image according to an projective transformation.
110 
111  The matrix can be computed from a set of correspondung points
112  using \ref projectiveMatrix2DFromCorrespondingPoints().
113 
114  <b> Declarations:</b>
115 
116  <b>\#include</b> <vigra/projective_registration.hxx><br>
117  Namespace: vigra
118 
119  pass 2D array views:
120  \code
121  namespace vigra {
122  template <int ORDER, class T,
123  class T2, class S2,
124  class C>
125  void
126  projectiveWarpImage(SplineImageView<ORDER, T> const & src,
127  MultiArrayView<2, T2, S2> dest,
128  MultiArrayView<2, double, C> const & projectiveMatrix);
129  }
130  \endcode
131 
132  \deprecatedAPI{projectiveWarpImage}
133  pass \ref ImageIterators and \ref DataAccessors :
134 
135  pass arguments explicitly:
136  \code
137  namespace vigra {
138  template <int ORDER, class T,
139  class DestIterator, class DestAccessor,
140  class C>
141  void projectiveWarpImage(SplineImageView<ORDER, T> const & src,
142  DestIterator dul, DestIterator dlr, DestAccessor dest,
143  MultiArrayView<2, double, C> const & projectiveMatrix);
144  }
145  \endcode
146 
147  use argument objects in conjunction with \ref ArgumentObjectFactories :
148  \code
149  namespace vigra {
150  template <int ORDER, class T,
151  class DestIterator, class DestAccessor,
152  class C>
153  void projectiveWarpImage(SplineImageView<ORDER, T> const & src,
154  triple<DestIterator, DestIterator, DestAccessor> dest,
155  MultiArrayView<2, double, C> const & projectiveMatrix);
156  }
157  \endcode
158  \deprecatedEnd
159 
160  The algorithm applies the given \a projectiveMatrix to the <i>destination coordinates</i> and copies
161  the image value from the resulting source coordinates, using the given SplineImageView \a src for interpolation.
162  If the resulting coordinate is outside the source image, nothing will be written at that destination point.
163 
164  \code
165  for all dest pixels:
166  currentSrcCoordinate = projectiveMatrix * currentDestCoordinate;
167  if src.isInside(currentSrcCoordinate):
168  dest[currentDestCoordinate] = src[currentSrcCoordinate]; // copy an interpolated value
169  \endcode
170 
171  The matrix represent a 2-dimensional projective transform by means of homogeneous coordinates,
172  i.e. it must be a 3x3 matrix whose last row is (p1,p2,1).
173 
174  <b> Required Interface:</b>
175 
176  \code
177  DestImageIterator dest_upperleft;
178 
179  double x = ..., y = ...;
180 
181  if (spline.isInside(x,y))
182  dest_accessor.set(spline(x, y), dest_upperleft);
183 
184  \endcode
185 
186  <b>See also:</b> Functions to specify projective transformation: \ref translationMatrix2D(), \ref scalingMatrix2D(),
187  \ref shearMatrix2D(), \ref rotationMatrix2DRadians(), \ref rotationMatrix2DDegrees() and \ref projectiveMatrix2DFromCorrespondingPoints()
188 */
189 doxygen_overloaded_function(template <...> void projectiveWarpImage)
190 
191 template <int ORDER, class T,
192  class DestIterator, class DestAccessor,
193  class C>
194 void projectiveWarpImage(SplineImageView<ORDER, T> const & src,
195  DestIterator dul, DestIterator dlr, DestAccessor dest,
196  MultiArrayView<2, double, C> const & projectiveMatrix)
197 {
198  vigra_precondition(rowCount(projectiveMatrix) == 3 && columnCount(projectiveMatrix) == 3 && projectiveMatrix(2,2) == 1.0,
199  "projectiveWarpImage(): matrix doesn't represent an projective transformation with homogeneous 2D coordinates.");
200 
201 
202  double w = dlr.x - dul.x;
203  double h = dlr.y - dul.y;
204 
205  for(double y = 0.0; y < h; ++y, ++dul.y)
206  {
207  typename DestIterator::row_iterator rd = dul.rowIterator();
208  for(double x=0.0; x < w; ++x, ++rd)
209  {
210  double fac = 1.0/(x*projectiveMatrix(2,0) + y*projectiveMatrix(2,1) + 1);
211  double sx = (x*projectiveMatrix(0,0) + y*projectiveMatrix(0,1) + projectiveMatrix(0,2)) * fac;
212  double sy = (x*projectiveMatrix(1,0) + y*projectiveMatrix(1,1) + projectiveMatrix(1,2)) * fac;
213  if(src.isInside(sx, sy))
214  dest.set(src(sx, sy), rd);
215  }
216  }
217 }
218 
219 template <int ORDER, class T,
220  class DestIterator, class DestAccessor,
221  class C>
222 inline
223 void projectiveWarpImage(SplineImageView<ORDER, T> const & src,
224  triple<DestIterator, DestIterator, DestAccessor> dest,
225  MultiArrayView<2, double, C> const & projectiveMatrix)
226 {
227  projectiveWarpImage(src, dest.first, dest.second, dest.third, projectiveMatrix);
228 }
229 
230 
231 template <int ORDER, class T,
232  class T2, class S2,
233  class C>
234 inline
235 void projectiveWarpImage(SplineImageView<ORDER, T> const & src,
236  MultiArrayView<2, T2, S2> dest,
237  MultiArrayView<2, double, C> const & projectiveMatrix)
238 {
239  projectiveWarpImage(src, destImageRange(dest), projectiveMatrix);
240 }
241 
242 
243 //@}
244 
245 } // namespace vigra
246 
247 
248 #endif /* VIGRA_PROJECTIVE_REGISTRATION_HXX */
vigra::linalg::rowCount
MultiArrayIndex rowCount(const MultiArrayView< 2, T, C > &x)
Definition: matrix.hxx:671
vigra::projectiveWarpImage
void projectiveWarpImage(...)
Warp an image according to an projective transformation.
vigra::projectiveMatrix2DFromCorrespondingPoints
linalg::TemporaryMatrix< double > projectiveMatrix2DFromCorrespondingPoints(SrcPointIterator s, SrcPointIterator send, DestPointIterator d)
Create homogeneous matrix that maps corresponding points onto each other.
Definition: projective_registration.hxx:65
vigra::doxygen_overloaded_function
doxygen_overloaded_function(template<...> void separableConvolveBlockwise) template< unsigned int N
Separated convolution on ChunkedArrays.
vigra::linalg::columnCount
MultiArrayIndex columnCount(const MultiArrayView< 2, T, C > &x)
Definition: matrix.hxx:684
vigra::linalg::linearSolve
bool linearSolve(...)

© Ullrich Köthe (ullrich.koethe@iwr.uni-heidelberg.de)
Heidelberg Collaboratory for Image Processing, University of Heidelberg, Germany

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vigra 1.11.1 (Fri May 19 2017)