core/vgl/algo/vgl_h_matrix_2d_compute.h

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// This is core/vgl/algo/vgl_h_matrix_2d_compute.h
#ifndef vgl_h_matrix_2d_compute_h_
#define vgl_h_matrix_2d_compute_h_
//:
// \file
// \brief contains class vgl_h_matrix_2d_compute
//
// Abstract interface for classes that compute plane-to-plane
// projectivities from point and line correspondences.
//
// \verbatim
//  Modifications
//   08-02-98 FSM
//      1. Added virtual compute methods that actually take arguments :
//         generic estimator using points, lines or both.
//      2. Obsoleted bool compute(vgl_h_matrix_2d<double>  *). So don't use it!
//      3. made arguments to compute method 'const ... &',
//         thereby potentially breaking the code of certain other people.
//
//   Mar 24, 2003 JLM Modifications to move to vgl algo
//   May 15, 2003 JLM Added a weighted least squares interface for computing
//                a homography from line correspondences.
//   Jun 23, 2003 Peter Vanroose - made compute_pl() etc. pure virtual
// \endverbatim
#include <vcl_vector.h>
#include <vgl/vgl_homg_point_2d.h>
#include <vgl/vgl_homg_line_2d.h>
#include <vgl/algo/vgl_h_matrix_2d.h>

class vgl_h_matrix_2d_compute
{
 public:
  vgl_h_matrix_2d_compute() : verbose_(false) {}
  virtual ~vgl_h_matrix_2d_compute() {}

  // set this to true for verbose run-time information
  void verbose(bool v) { verbose_ = v; }

  // fsm
  virtual int minimum_number_of_correspondences() const = 0;

  // Compute methods :
  //
  // Some use point correspondences, some use line
  // correspondences, some use both. They are implemented
  // in terms of the pure virtual compute_(p|l|pl) methods.

  //: homography from matched points
  bool compute(vcl_vector<vgl_homg_point_2d<double> > const& points1,
               vcl_vector<vgl_homg_point_2d<double> > const& points2,
               vgl_h_matrix_2d<double>& H)
  {
    return compute_p(points1, points2, H);
  }

 //: homography from matched lines
  bool compute(vcl_vector<vgl_homg_line_2d<double> > const& lines1,
               vcl_vector<vgl_homg_line_2d<double> > const& lines2,
               vgl_h_matrix_2d<double>& H)
  {
    return compute_l(lines1, lines2, H);
  }

 //: homography from matched lines with a weight vector
  bool compute(vcl_vector<vgl_homg_line_2d<double> > const& lines1,
               vcl_vector<vgl_homg_line_2d<double> > const& lines2,
               vcl_vector<double> const& weights,
               vgl_h_matrix_2d<double>& H)
  {
    return compute_l(lines1, lines2, weights, H);
  }

  //: homography from matched points and lines
  bool compute(vcl_vector<vgl_homg_point_2d<double> > const& points1,
               vcl_vector<vgl_homg_point_2d<double> > const& points2,
               vcl_vector<vgl_homg_line_2d<double> > const& lines1,
               vcl_vector<vgl_homg_line_2d<double> > const& lines2,
               vgl_h_matrix_2d<double>& H)
  {
    return compute_pl(points1, points2, lines1, lines2, H);
  }

  //: homography from matched points - return h_matrix
  vgl_h_matrix_2d<double>
  compute(vcl_vector<vgl_homg_point_2d<double> > const& p1,
          vcl_vector<vgl_homg_point_2d<double> > const& p2)
  { vgl_h_matrix_2d<double> H; compute_p(p1, p2, H); return H; }

  //: homography from matched lines - return h_matrix
  vgl_h_matrix_2d<double>
  compute(vcl_vector<vgl_homg_line_2d<double> > const& l1,
          vcl_vector<vgl_homg_line_2d<double> > const& l2)
  { vgl_h_matrix_2d<double> H; compute_l(l1, l2, H); return H; }

  //: homography from matched lines with weight vector - return h_matrix
  vgl_h_matrix_2d<double>
  compute(vcl_vector<vgl_homg_line_2d<double> > const& l1,
          vcl_vector<vgl_homg_line_2d<double> > const& l2,
          vcl_vector<double> const& weights)
  { vgl_h_matrix_2d<double> H; compute_l(l1, l2, weights, H); return H; }

  //: homography from matched points and lines - return h_matrix
  vgl_h_matrix_2d<double>
  compute(vcl_vector<vgl_homg_point_2d<double> > const& p1,
          vcl_vector<vgl_homg_point_2d<double> > const& p2,
          vcl_vector<vgl_homg_line_2d<double> > const& l1,
          vcl_vector<vgl_homg_line_2d<double> > const& l2)
  { vgl_h_matrix_2d<double>  H; compute_pl(p1, p2, l1, l2, H); return H; }

 protected:
  bool verbose_;
  virtual bool compute_p(vcl_vector<vgl_homg_point_2d<double> > const& points1,
                         vcl_vector<vgl_homg_point_2d<double> > const& points2,
                         vgl_h_matrix_2d<double>& H) = 0;

  virtual bool compute_l(vcl_vector<vgl_homg_line_2d<double> > const& lines1,
                         vcl_vector<vgl_homg_line_2d<double> > const& lines2,
                         vgl_h_matrix_2d<double>& H) = 0;

  virtual bool compute_l(vcl_vector<vgl_homg_line_2d<double> > const& lines1,
                         vcl_vector<vgl_homg_line_2d<double> > const& lines2,
                         vcl_vector<double> const& weights,
                         vgl_h_matrix_2d<double>& H) = 0;

  virtual bool compute_pl(vcl_vector<vgl_homg_point_2d<double> > const& points1,
                          vcl_vector<vgl_homg_point_2d<double> > const& points2,
                          vcl_vector<vgl_homg_line_2d<double> > const& lines1,
                          vcl_vector<vgl_homg_line_2d<double> > const& lines2,
                          vgl_h_matrix_2d<double>& H) = 0;
};

#endif // vgl_h_matrix_2d_compute_h_