ExampleHMatrixEstimation.cpp

Example computing H matrix

Author

woelk 05/2008 www.vision-n.de

/* This file is part of the BIAS library (Basic ImageAlgorithmS).
   
   Copyright (C) 2003-2009    (see file CONTACT for details)
   Multimediale Systeme der Informationsverarbeitung
   Institut fuer Informatik
   Christian-Albrechts-Universitaet Kiel
   
   BIAS is free software; you can redistribute it and/or modify
   it under the terms of the GNU Lesser General Public License as published by
   the Free Software Foundation; either version 2.1 of the License, or
   (at your option) any later version.
   
   BIAS is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU Lesser General Public License for more details.
   
   You should have received a copy of the GNU Lesser General Public License
   along with BIAS; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA*/


/**
   @example ExampleHMatrixEstimation.cpp
   @relates HMatrixExtimation
   @brief Example computing H matrix 
   @ingroup g_examples
   @author woelk 05/2008 www.vision-n.de
*/

#include <Geometry/HMatrixEstimation.hh>
#include <vector>

using namespace BIAS;
using namespace std;


int main(int argc, char *argv[])
{
  HMatrixEstimation Hest;
  const int num_points=4;
  vector<HomgPoint2D> frompoints(4), topoints(4);
  const int num_fields = 22;
  frompoints[0].Set(0.0, 0.0, 1.0);
  frompoints[1].Set((double)(num_fields), 0.0, 1.0);
  frompoints[2].Set((double)(num_fields), (double)(num_fields), 1.0);
  frompoints[3].Set(0.0, (double)(num_fields), 1.0);
  topoints[0].Set(521.8942308, 64.35576923, 1.);
  topoints[1].Set(527., 280., 1.);
  topoints[2].Set(310.96, 282.0, 1.);
  topoints[3].Set(309., 62., 1.);
 
  HMatrix H;
  int res = Hest.Compute(frompoints, topoints, H);
  if (res!=0) {
    BIASERR("error computing H: "<<res);
    return res;
  } else {
    HomgPoint2D hfrom;
    for (int i=0; i<num_points; i++){
      hfrom = H * frompoints[i];
      BIASASSERT(!hfrom.IsAtInfinity());
      hfrom.Homogenize();
      cout   <<   "    from = "<<frompoints[i]
             << "\nH * from = "<<hfrom
             << "\n      to = "<<topoints[i]<<"\n--------\n";
  }

  }
  return 0;
}