Normalization.hh

/* 
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
*/


#ifndef _Normalization_hh_
#define _Normalization_hh_

#include "bias_config.h" 
#include <Base/Common/BIASpragmaStart.hh>
#include <vector>

#include <Base/Math/Matrix4x4.hh>

namespace BIAS {
  // forward declarations
  class KMatrix;
  class HomgPoint2D;
  class HomgPoint3D;
  template <class T> class BIASMathBase_EXPORT Matrix3x3;

  /** @class Normalization
      @ingroup g_geometry
      @brief class Normalization Functions, e.g. Hartley
      @author koeser 07/2004 **/
  class BIASGeometryBase_EXPORT Normalization 
  {
  public:
    
    /** default constructor, does nothing **/
    inline Normalization() {};
   
    /** @brief linearly transform Points with 3x3 matrix, such that they
        have mean zero and stddev sqrt(2)
        @param Points original (homogenized) points
        @param NormPoints normalized (homogenized) points correponding to Points
        @param Normalization matrix used for normalization
        @author koeser */
    int Hartley(const std::vector<HomgPoint2D>& Points,
                std::vector<HomgPoint2D>& NormPoints,
                KMatrix& Normalization) const;

    int Hartley(const std::vector<HomgPoint3D>& Points, 
                std::vector<HomgPoint3D>& NormPoints,
                Matrix4x4<double> & normMatrix) const; 
      
    /** @brief normalization for fisheye cameras wher points may have a
        w component = 0

        Linearly transform Points with 3x3 matrix, such that their
        zero is (0,0,1) using a rotation matrix. If the average 
        angle of the points with (0,0,1) is less than 60 deg, the points 
        are scaled such that afterwards their average angle with (0,0,1) 
        is as close aspossible to 60 deg subject to the constrant that no 
        point has an angle greater than 80deg with (0,0,1)
        
        
        @param Points original points, can be at infinity
        @param NormPoints normalized points correponding to Points
        @param Normalization matrix used for normalization
        @author woelk 11/2006  */
    int Woelk(const std::vector<HomgPoint2D>& Points,
              std::vector<HomgPoint2D>& NormPoints,
              Matrix3x3<double>& Normalization) const;

  };    
    

} // namespace BIAS

#include <Base/Common/BIASpragmaEnd.hh>

#endif