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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+// Copyright (C) 2013, Alfonso Sanchez-Beato, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's 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.
+//
+//   * The name of the copyright holders may not 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 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.
+//
+//M*/
+
+#ifndef MAP_H_
+#define MAP_H_
+
+#include <opencv2/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar)
+
+/** @defgroup reg Image Registration
+
+The Registration module implements parametric image registration. The implemented method is direct
+alignment, that is, it uses directly the pixel values for calculating the registration between a
+pair of images, as opposed to feature-based registration. The implementation follows essentially the
+corresponding part of @cite Szeliski06 .
+
+Feature based methods have some advantages over pixel based methods when we are trying to register
+pictures that have been shoot under different lighting conditions or exposition times, or when the
+images overlap only partially. On the other hand, the main advantage of pixel-based methods when
+compared to feature based methods is their better precision for some pictures (those shoot under
+similar lighting conditions and that have a significative overlap), due to the fact that we are
+using all the information available in the image, which allows us to achieve subpixel accuracy. This
+is particularly important for certain applications like multi-frame denoising or super-resolution.
+
+In fact, pixel and feature registration methods can complement each other: an application could
+first obtain a coarse registration using features and then refine the registration using a pixel
+based method on the overlapping area of the images. The code developed allows this use case.
+
+The module implements classes derived from the abstract classes cv::reg::Map or cv::reg::Mapper. The
+former models a coordinate transformation between two reference frames, while the later encapsulates
+a way of invoking a method that calculates a Map between two images. Although the objective has been
+to implement pixel based methods, the module can be extended to support other methods that can
+calculate transformations between images (feature methods, optical flow, etc.).
+
+Each class derived from Map implements a motion model, as follows:
+
+-   MapShift: Models a simple translation
+-   MapAffine: Models an affine transformation
+-   MapProjec: Models a projective transformation
+
+MapProject can also be used to model affine motion or translations, but some operations on it are
+more costly, and that is the reason for defining the other two classes.
+
+The classes derived from Mapper are
+
+-   MapperGradShift: Gradient based alignment for calculating translations. It produces a MapShift
+    (two parameters that correspond to the shift vector).
+-   MapperGradEuclid: Gradient based alignment for euclidean motions, that is, rotations and
+    translations. It calculates three parameters (angle and shift vector), although the result is
+    stored in a MapAffine object for convenience.
+-   MapperGradSimilar: Gradient based alignment for calculating similarities, which adds scaling to
+    the euclidean motion. It calculates four parameters (two for the anti-symmetric matrix and two
+    for the shift vector), although the result is stored in a MapAffine object for better
+    convenience.
+-   MapperGradAffine: Gradient based alignment for an affine motion model. The number of parameters
+    is six and the result is stored in a MapAffine object.
+-   MapperGradProj: Gradient based alignment for calculating projective transformations. The number
+    of parameters is eight and the result is stored in a MapProject object.
+-   MapperPyramid: It implements hyerarchical motion estimation using a Gaussian pyramid. Its
+    constructor accepts as argument any other object that implements the Mapper interface, and it is
+    that mapper the one called by MapperPyramid for each scale of the pyramid.
+
+If the motion between the images is not very small, the normal way of using these classes is to
+create a MapperGrad\* object and use it as input to create a MapperPyramid, which in turn is called
+to perform the calculation. However, if the motion between the images is small enough, we can use
+directly the MapperGrad\* classes. Another possibility is to use first a feature based method to
+perform a coarse registration and then do a refinement through MapperPyramid or directly a
+MapperGrad\* object. The "calculate" method of the mappers accepts an initial estimation of the
+motion as input.
+
+When deciding which MapperGrad to use we must take into account that mappers with more parameters
+can handle more complex motions, but involve more calculations and are therefore slower. Also, if we
+are confident on the motion model that is followed by the sequence, increasing the number of
+parameters beyond what we need will decrease the accuracy: it is better to use the least number of
+degrees of freedom that we can.
+
+In the module tests there are examples that show how to register a pair of images using any of the
+implemented mappers.
+*/
+
+namespace cv {
+namespace reg {
+
+//! @addtogroup reg
+//! @{
+
+/** @brief Base class for modelling a Map between two images.
+
+The class is only used to define the common interface for any possible map.
+ */
+class CV_EXPORTS Map
+{
+public:
+    /*!
+     * Virtual destructor
+     */
+    virtual ~Map(void);
+
+    /*!
+     * Warps image to a new coordinate frame. The calculation is img2(x)=img1(T^{-1}(x)), as we
+     * have to apply the inverse transformation to the points to move them to were the values
+     * of img2 are.
+     * \param[in] img1 Original image
+     * \param[out] img2 Warped image
+     */
+    virtual void warp(const cv::Mat& img1, cv::Mat& img2) const;
+
+    /*!
+     * Warps image to a new coordinate frame. The calculation is img2(x)=img1(T(x)), so in fact
+     * this is the inverse warping as we are taking the value of img1 with the forward
+     * transformation of the points.
+     * \param[in] img1 Original image
+     * \param[out] img2 Warped image
+     */
+    virtual void inverseWarp(const cv::Mat& img1, cv::Mat& img2) const = 0;
+
+    /*!
+     * Calculates the inverse map
+     * \return Inverse map
+     */
+    virtual cv::Ptr<Map> inverseMap(void) const = 0;
+
+    /*!
+     * Changes the map composing the current transformation with the one provided in the call.
+     * The order is first the current transformation, then the input argument.
+     * \param[in] map Transformation to compose with.
+     */
+    virtual void compose(const Map& map) = 0;
+
+    /*!
+     * Scales the map by a given factor as if the coordinates system is expanded/compressed
+     * by that factor.
+     * \param[in] factor Expansion if bigger than one, compression if smaller than one
+     */
+    virtual void scale(double factor) = 0;
+};
+
+//! @}
+
+}}  // namespace cv::reg
+
+#endif  // MAP_H_