analytic properties of homography transformation of an image More...

#include <Image/TextureTransformHomography.hh>

Inheritance diagram for BIAS::TextureTransformHomography:

Collaboration diagram for BIAS::TextureTransformHomography:

Public Member Functions
virtual TextureTransformHomography *	Clone () const
	virtual covariant copy constructor, caller must eventually destroy the created object More...

void	ComposeWithDeltaP (const Vector< double > &deltaP)

void	ComposeWithInverseDeltaP (const Vector< double > &deltaP)
	concatenate this and an inverse transform with param deltaP and save new parameter vector to this. More...

BIAS::HMatrix	ConstructHFromParameters (const Vector< double > &p) const
	given parameters, compute H More...

Vector< double >	ExtractParameters (const BIAS::HMatrix &H) const
	given H, compute a parameter vector More...

virtual Vector< double >	GetInverseParameters () const
	returns parameter vector which undoes the current warp More...

void	GetParameters (Vector< double > &p) const
	get the current parameter vector More...

int	MapBackward (const HomgPoint2D &sink, HomgPoint2D &src) const
	map a point in image "source" to a point in image "sink" More...

int	MapForward (const HomgPoint2D &src, HomgPoint2D &sink) const
	map a point in image "source" to a point in image "sink" More...

int	ParameterInversionJacobian (Matrix< double > &Jac) const
	compute parameters for inverse operation and obtain the jacobian of the inverse parameters with respect to the original parameters for error propagation More...

int	ParameterJacobianBackward (Matrix< double > &Jac, const HomgPoint2D &src)
	transformed position change when parameters change More...

int	ParameterJacobianForward (Matrix< double > &Jac, const HomgPoint2D &src)
	transformed position change when parameters change More...

bool	ParameterJacobianIsConstant () const
	return true, if the parameter jacobian does not depend on the image position More...

void	SetParameters (const Vector< double > &p)
	h11-1, h12, h13, h21, h22-1, h23, h31, h32 (h33==1 assumed) More...

int	TextureJacobianBackward (const HomgPoint2D &sink, Matrix2x2< double > &Jac) const
	shape change of the local region when mapping backward More...

int	TextureJacobianForward (const HomgPoint2D &src, Matrix2x2< double > &Jac) const
	shape change of the local region when mapping forward More...

virtual bool	TextureJacobianIsConstant () const
	return true if the texture jacobian does not depend on the image position More...

	TextureTransformHomography ()

virtual	~TextureTransformHomography ()

Protected Attributes
HMatrix	H_

HMatrix	Hinv_

Vector< double >	P_
	current set of parameters, see SetParameters for meaning More...

Detailed Description

analytic properties of homography transformation of an image

See BIAS::TextureTransform for explanation of methods.

Author: koeser 01/2008

Examples:: ExampleAlignment.cpp.

Definition at line 42 of file TextureTransformHomography.hh.

Constructor & Destructor Documentation

BIAS::TextureTransformHomography::TextureTransformHomography ( )

inline

Definition at line 44 of file TextureTransformHomography.hh.

virtual BIAS::TextureTransformHomography::~TextureTransformHomography ( )

inlinevirtual

Definition at line 49 of file TextureTransformHomography.hh.

Member Function Documentation

virtual TextureTransformHomography* BIAS::TextureTransformHomography::Clone ( ) const

inlinevirtual

virtual covariant copy constructor, caller must eventually destroy the created object

Implements BIAS::TextureTransform.

Definition at line 82 of file TextureTransformHomography.hh.

void BIAS::TextureTransformHomography::ComposeWithDeltaP ( const Vector< double > & deltaP )

void BIAS::TextureTransformHomography::ComposeWithInverseDeltaP ( const Vector< double > & deltaP )

virtual

concatenate *this and an inverse transform with param deltaP and save new parameter vector to *this.

Apart from very simple transformations like displacement THIS IS NOT A SIMPLE ADDITION but rather a multiplication-like operation!

This function is particularly important for inverse compositional image alignment (KLT)

Implements BIAS::TextureTransform.

Definition at line 156 of file TextureTransformHomography.cpp.

References BIAS::Matrix3x3< T >::GetInverse().

BIAS::HMatrix BIAS::TextureTransformHomography::ConstructHFromParameters ( const Vector< double > & p ) const

given parameters, compute H

Definition at line 311 of file TextureTransformHomography.cpp.

BIAS::Vector< double > BIAS::TextureTransformHomography::ExtractParameters ( const BIAS::HMatrix & H ) const

given H, compute a parameter vector

Definition at line 289 of file TextureTransformHomography.cpp.

virtual Vector<double> BIAS::TextureTransform::GetInverseParameters ( ) const

inlinevirtualinherited

returns parameter vector which undoes the current warp

Reimplemented in BIAS::TextureTransformAffine.

Examples:: ExampleAlignment.cpp.

Definition at line 130 of file TextureTransform.hh.

Referenced by BIAS::ImageAlignment::Align().

void BIAS::TextureTransform::GetParameters ( Vector< double > & p ) const

inlineinherited

get the current parameter vector

Definition at line 83 of file TextureTransform.hh.

Referenced by BIAS::ImageAlignment::Align().

int BIAS::TextureTransformHomography::MapBackward	(	const HomgPoint2D &	sink,
		HomgPoint2D &	source
	)		const

virtual

map a point in image "source" to a point in image "sink"

Implements BIAS::TextureTransform.

Definition at line 38 of file TextureTransformHomography.cpp.

References BIAS::HomgPoint2D::Homogenize().

int BIAS::TextureTransformHomography::MapForward	(	const HomgPoint2D &	src,
		HomgPoint2D &	sink
	)		const

virtual

map a point in image "source" to a point in image "sink"

Implements BIAS::TextureTransform.

Definition at line 30 of file TextureTransformHomography.cpp.

References H_, and BIAS::HomgPoint2D::Homogenize().

int BIAS::TextureTransformHomography::ParameterInversionJacobian ( Matrix< double > & Jac ) const

virtual

compute parameters for inverse operation and obtain the jacobian of the inverse parameters with respect to the original parameters for error propagation

Reimplemented from BIAS::TextureTransform.

Definition at line 167 of file TextureTransformHomography.cpp.

References BIAS::Matrix< T >::GetData(), and TNT::Matrix< T >::newsize().