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Diffstat (limited to 'thirdparty1/linux/include/opencv2/reg/map.hpp')
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diff --git a/thirdparty1/linux/include/opencv2/reg/map.hpp b/thirdparty1/linux/include/opencv2/reg/map.hpp new file mode 100644 index 0000000..26b29e3 --- /dev/null +++ b/thirdparty1/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_ |