diff options
Diffstat (limited to 'thirdparty/linux/include/opencv2/reg')
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/map.hpp | 175 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mapaffine.hpp | 105 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mapper.hpp | 113 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mappergradaffine.hpp | 67 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mappergradeuclid.hpp | 67 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mappergradproj.hpp | 67 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mappergradshift.hpp | 67 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mappergradsimilar.hpp | 67 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mapperpyramid.hpp | 78 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mapprojec.hpp | 105 | ||||
| -rw-r--r-- | thirdparty/linux/include/opencv2/reg/mapshift.hpp | 96 |
11 files changed, 1007 insertions, 0 deletions
diff --git a/thirdparty/linux/include/opencv2/reg/map.hpp b/thirdparty/linux/include/opencv2/reg/map.hpp new file mode 100644 index 0000000..26b29e3 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/map.hpp @@ -0,0 +1,175 @@ +/*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_ diff --git a/thirdparty/linux/include/opencv2/reg/mapaffine.hpp b/thirdparty/linux/include/opencv2/reg/mapaffine.hpp new file mode 100644 index 0000000..1c91326 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mapaffine.hpp @@ -0,0 +1,105 @@ +/*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 MAPAFFINE_H_ +#define MAPAFFINE_H_ + +#include "map.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Defines an affine transformation + */ +class CV_EXPORTS MapAffine : public Map +{ +public: + /*! + * Default constructor builds an identity map + */ + MapAffine(void); + + /*! + * Constructor providing explicit values + * \param[in] linTr Linear part of the affine transformation + * \param[in] shift Displacement part of the affine transformation + */ + MapAffine(const cv::Matx<double, 2, 2>& linTr, const cv::Vec<double, 2>& shift); + + /*! + * Destructor + */ + ~MapAffine(void); + + void inverseWarp(const cv::Mat& img1, cv::Mat& img2) const; + + cv::Ptr<Map> inverseMap(void) const; + + void compose(const Map& map); + + void scale(double factor); + + /*! + * Return linear part of the affine transformation + * \return Linear part of the affine transformation + */ + const cv::Matx<double, 2, 2>& getLinTr() const { + return linTr_; + } + + /*! + * Return displacement part of the affine transformation + * \return Displacement part of the affine transformation + */ + const cv::Vec<double, 2>& getShift() const { + return shift_; + } + +private: + cv::Matx<double, 2, 2> linTr_; + cv::Vec<double, 2> shift_; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPAFFINE_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mapper.hpp b/thirdparty/linux/include/opencv2/reg/mapper.hpp new file mode 100644 index 0000000..8abadd1 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mapper.hpp @@ -0,0 +1,113 @@ +/*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 MAPPER_H_ +#define MAPPER_H_ + +#include <opencv2/core.hpp> // Basic OpenCV structures (cv::Mat, Scalar) +#include "map.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/** @brief Base class for modelling an algorithm for calculating a + +The class is only used to define the common interface for any possible mapping algorithm. + */ +class CV_EXPORTS Mapper +{ +public: + virtual ~Mapper(void) {} + + /* + * Calculate mapping between two images + * \param[in] img1 Reference image + * \param[in] img2 Warped image + * \param[in,out] res Map from img1 to img2, stored in a smart pointer. If present as input, + * it is an initial rough estimation that the mapper will try to refine. + */ + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const = 0; + + /* + * Returns a map compatible with the Mapper class + * \return Pointer to identity Map + */ + virtual cv::Ptr<Map> getMap(void) const = 0; + +protected: + /* + * Calculates gradient and difference between images + * \param[in] img1 Image one + * \param[in] img2 Image two + * \param[out] Ix Gradient x-coordinate + * \param[out] Iy Gradient y-coordinate + * \param[out] It Difference of images + */ + void gradient(const cv::Mat& img1, const cv::Mat& img2, + cv::Mat& Ix, cv::Mat& Iy, cv::Mat& It) const; + + /* + * Fills matrices with pixel coordinates of an image + * \param[in] img Image + * \param[out] grid_r Row (y-coordinate) + * \param[out] grid_c Column (x-coordinate) + */ + void grid(const Mat& img, Mat& grid_r, Mat& grid_c) const; + + /* + * Per-element square of a matrix + * \param[in] mat1 Input matrix + * \return mat1[i,j]^2 + */ + cv::Mat sqr(const cv::Mat& mat1) const + { + cv::Mat res; + res.create(mat1.size(), mat1.type()); + res = mat1.mul(mat1); + return res; + } +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPER_H_ + diff --git a/thirdparty/linux/include/opencv2/reg/mappergradaffine.hpp b/thirdparty/linux/include/opencv2/reg/mappergradaffine.hpp new file mode 100644 index 0000000..08d5397 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mappergradaffine.hpp @@ -0,0 +1,67 @@ +/*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 MAPPERGRADAFFINE_H_ +#define MAPPERGRADAFFINE_H_ + +#include "mapper.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Mapper for affine motion + */ +class CV_EXPORTS MapperGradAffine: public Mapper +{ +public: + MapperGradAffine(void); + ~MapperGradAffine(void); + + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERGRADAFFINE_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mappergradeuclid.hpp b/thirdparty/linux/include/opencv2/reg/mappergradeuclid.hpp new file mode 100644 index 0000000..29c49cb --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mappergradeuclid.hpp @@ -0,0 +1,67 @@ +/*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 MAPPERGRADEUCLID_H_ +#define MAPPERGRADEUCLID_H_ + +#include "mapper.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Mapper for euclidean motion: rotation plus shift + */ +class CV_EXPORTS MapperGradEuclid: public Mapper +{ +public: + MapperGradEuclid(void); + ~MapperGradEuclid(void); + + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERGRADEUCLID_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mappergradproj.hpp b/thirdparty/linux/include/opencv2/reg/mappergradproj.hpp new file mode 100644 index 0000000..f1721e8 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mappergradproj.hpp @@ -0,0 +1,67 @@ +/*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 MAPPERGRADPROJ_H_ +#define MAPPERGRADPROJ_H_ + +#include "mapper.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Gradient mapper for a projective transformation + */ +class CV_EXPORTS MapperGradProj: public Mapper +{ +public: + MapperGradProj(void); + ~MapperGradProj(void); + + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERGRADPROJ_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mappergradshift.hpp b/thirdparty/linux/include/opencv2/reg/mappergradshift.hpp new file mode 100644 index 0000000..a9f75b3 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mappergradshift.hpp @@ -0,0 +1,67 @@ +/*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 MAPPERGRADSHIFT_H_ +#define MAPPERGRADSHIFT_H_ + +#include "mapper.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Gradient mapper for a translation + */ +class CV_EXPORTS MapperGradShift: public Mapper +{ +public: + MapperGradShift(void); + virtual ~MapperGradShift(void); + + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERGRADSHIFT_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mappergradsimilar.hpp b/thirdparty/linux/include/opencv2/reg/mappergradsimilar.hpp new file mode 100644 index 0000000..ea45ab9 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mappergradsimilar.hpp @@ -0,0 +1,67 @@ +/*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 MAPPERGRADSIMILAR_H_ +#define MAPPERGRADSIMILAR_H_ + +#include "mapper.hpp" + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Calculates a similarity transformation between to images (scale, rotation, and shift) + */ +class CV_EXPORTS MapperGradSimilar: public Mapper +{ +public: + MapperGradSimilar(void); + ~MapperGradSimilar(void); + + virtual void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERGRADSIMILAR_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mapperpyramid.hpp b/thirdparty/linux/include/opencv2/reg/mapperpyramid.hpp new file mode 100644 index 0000000..33440bd --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mapperpyramid.hpp @@ -0,0 +1,78 @@ +/*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 MAPPERPYRAMID_H_ +#define MAPPERPYRAMID_H_ + +#include "mapper.hpp" + + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Calculates a map using a gaussian pyramid + */ +class CV_EXPORTS MapperPyramid: public Mapper +{ +public: + /* + * Constructor + * \param[in] baseMapper Base mapper used for the refinements + */ + MapperPyramid(const Mapper& baseMapper); + + void calculate(const cv::Mat& img1, const cv::Mat& img2, cv::Ptr<Map>& res) const; + + cv::Ptr<Map> getMap(void) const; + + unsigned numLev_; /*!< Number of levels of the pyramid */ + unsigned numIterPerScale_; /*!< Number of iterations at a given scale of the pyramid */ + +private: + MapperPyramid& operator=(const MapperPyramid&); + const Mapper& baseMapper_; /*!< Mapper used in inner level */ +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPERPYRAMID_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mapprojec.hpp b/thirdparty/linux/include/opencv2/reg/mapprojec.hpp new file mode 100644 index 0000000..57ef146 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mapprojec.hpp @@ -0,0 +1,105 @@ +/*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 MAPPROJEC_H_ +#define MAPPROJEC_H_ + +#include "map.hpp" + + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Defines an transformation that consists on a projective transformation + */ +class CV_EXPORTS MapProjec : public Map +{ +public: + /*! + * Default constructor builds an identity map + */ + MapProjec(void); + + /*! + * Constructor providing explicit values + * \param[in] projTr Projective transformation + */ + MapProjec(const cv::Matx<double, 3, 3>& projTr); + + /*! + * Destructor + */ + ~MapProjec(void); + + void inverseWarp(const cv::Mat& img1, cv::Mat& img2) const; + + cv::Ptr<Map> inverseMap(void) const; + + void compose(const Map& map); + + void scale(double factor); + + /*! + * Returns projection matrix + * \return Projection matrix + */ + const cv::Matx<double, 3, 3>& getProjTr() const { + return projTr_; + } + + /*! + * Normalizes object's homography + */ + void normalize(void) { + double z = 1./projTr_(2, 2); + for(size_t v_i = 0; v_i < sizeof(projTr_.val)/sizeof(projTr_.val[0]); ++v_i) + projTr_.val[v_i] *= z; + } + +private: + cv::Matx<double, 3, 3> projTr_; /*< Projection matrix */ +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPPROJEC_H_ diff --git a/thirdparty/linux/include/opencv2/reg/mapshift.hpp b/thirdparty/linux/include/opencv2/reg/mapshift.hpp new file mode 100644 index 0000000..e5f54a4 --- /dev/null +++ b/thirdparty/linux/include/opencv2/reg/mapshift.hpp @@ -0,0 +1,96 @@ +/*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 MAPSHIFT_H_ +#define MAPSHIFT_H_ + +#include "map.hpp" + + +namespace cv { +namespace reg { + +//! @addtogroup reg +//! @{ + +/*! + * Defines an transformation that consists on a simple displacement + */ +class CV_EXPORTS MapShift : public Map +{ +public: + /*! + * Default constructor builds an identity map + */ + MapShift(void); + + /*! + * Constructor providing explicit values + * \param[in] shift Displacement + */ + MapShift(const cv::Vec<double, 2>& shift); + + /*! + * Destructor + */ + ~MapShift(void); + + void inverseWarp(const cv::Mat& img1, cv::Mat& img2) const; + + cv::Ptr<Map> inverseMap(void) const; + + void compose(const Map& map); + + void scale(double factor); + + /*! + * Return displacement + * \return Displacement + */ + const cv::Vec<double, 2>& getShift() const { + return shift_; + } + +private: + cv::Vec<double, 2> shift_; /*< Displacement */ +}; + +//! @} + +}} // namespace cv::reg + +#endif // MAPSHIFT_H_ |