Homography2d.h

// Homography2d.h:
// ---------------
//

#ifndef __IPSDKMATH_HOMOGRAPHY2D_H__
#define __IPSDKMATH_HOMOGRAPHY2D_H__

// suppression warnings
// warning C4251: 'ipsdk::math::transform::Homography2d::_matA' : class 'boost::numeric::ublas::bounded_matrix<ipsdk::ipReal64,0x03,0x03,boost::numeric::ublas::row_major>' needs to have dll-interface to be used by clients of class 'ipsdk::math::transform::Homography2d'
#pragma warning (push)
#pragma warning (disable : 4251)

#include <IPSDKMath/Geometry/2d/Transform/BaseLinearGeometricTransform2d.h>

namespace ipsdk {
namespace math {
namespace transform {


class IPSDKMATH_API Homography2d : public BaseLinearGeometricTransform2d
{
// predefined public types
public:
    IPSDK_ENUM(eTransformParams,

        (eTP_Axx)       
        (eTP_Axy)       
        (eTP_Axw)       
        (eTP_Ayx)       
        (eTP_Ayy)       
        (eTP_Ayw)       
        (eTP_Awx)       
        (eTP_Awy)       
        (eTP_Aww)       
    );

    // declare geometric transformation 2d
    IPSDK_DECLARE_TRANSFORM2D(Homography2d);

public:
    Homography2d()
    {
        _matA(0, 0) = 1; _matA(0, 1) = 0; _matA(0, 2) = 0;
        _matA(1, 0) = 0; _matA(1, 1) = 1; _matA(1, 2) = 0;
        _matA(2, 0) = 0; _matA(2, 1) = 0; _matA(2, 2) = 1;
    }
    Homography2d(const Matrix3d& matA) :
        _matA(matA)
    {
    }
    Homography2d(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                 const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                 const ipReal64 awx, const ipReal64 awy, const ipReal64 aww)
    {
        _matA(0, 0) = axx; _matA(0, 1) = axy; _matA(0, 2) = axw;
        _matA(1, 0) = ayx; _matA(1, 1) = ayy; _matA(1, 2) = ayw;
        _matA(2, 0) = awx; _matA(2, 1) = awy; _matA(2, 2) = aww;
    }
    ~Homography2d() {}

// methods
public:
    static bool             transform(const Matrix3d& matA,
                                      ipReal64& x, ipReal64& y)
    {
        return transform(matA(0, 0), matA(0, 1), matA(0, 2),
                         matA(1, 0), matA(1, 1), matA(1, 2),
                         matA(2, 0), matA(2, 1), matA(2, 2),
                         x, y);
    }
    static bool             transform(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                                      const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                                      const ipReal64 awx, const ipReal64 awy, const ipReal64 aww,
                                      ipReal64& x, ipReal64& y)
    {
        const ipReal64 xTmp = axx*x + axy*y + axw;
        const ipReal64 yTmp = ayx*x + ayy*y + ayw;
        const ipReal64 wTmp = awx*x + awy*y + aww;
        if (wTmp == 0)
            return false;
        x = xTmp / wTmp;
        y = yTmp / wTmp;

        return true;
    }

    static Matrix3d         getHomogenousMatrix(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                                                const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                                                const ipReal64 awx, const ipReal64 awy, const ipReal64 aww)
    {
        Matrix3d transform;
        transform(0, 0) = axx; transform(0, 1) = axy; transform(0, 2) = axw;
        transform(1, 0) = ayx; transform(1, 1) = ayy; transform(1, 2) = ayw;
        transform(2, 0) = awx; transform(2, 1) = awy; transform(2, 2) = aww;

        return transform;
    }

    static bool             isInvertible(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                                         const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                                         const ipReal64 awx, const ipReal64 awy, const ipReal64 aww);

    static Matrix3d         getInvHomogenousMatrix(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                                                   const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                                                   const ipReal64 awx, const ipReal64 awy, const ipReal64 aww)
    {
        // invert input parameters
        Matrix3d matA;
        matA(0, 0) = axx; matA(0, 1) = axy; matA(0, 2) = axw;
        matA(1, 0) = ayx; matA(1, 1) = ayy; matA(1, 2) = ayw;
        matA(2, 0) = awx; matA(2, 1) = awy; matA(2, 2) = aww;
        getInvParams(matA(0, 0), matA(0, 1), matA(0, 2),
                     matA(1, 0), matA(1, 1), matA(1, 2),
                     matA(2, 0), matA(2, 1), matA(2, 2));

        return matA;
    }

    static void             getInvParams(ipReal64& axx, ipReal64& axy, ipReal64& axw,
                                         ipReal64& ayx, ipReal64& ayy, ipReal64& ayw,
                                         ipReal64& awx, ipReal64& awy, ipReal64& aww);

    static Vector           getIdentityParams();

    void                    setParams(const Matrix3d& matA)
    {
        _matA = matA;
    }
    void                    setParams(const ipReal64 axx, const ipReal64 axy, const ipReal64 axw,
                                      const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayw,
                                      const ipReal64 awx, const ipReal64 awy, const ipReal64 aww)
    {
        _matA(0, 0) = axx; _matA(0, 1) = axy; _matA(0, 2) = axw;
        _matA(1, 0) = ayx; _matA(1, 1) = ayy; _matA(1, 2) = ayw;
        _matA(2, 0) = awx; _matA(2, 1) = awy; _matA(2, 2) = aww;
    }

    void                    setParams(const Vector& params);

    void                    setIdentity();

    void                    apply(ipReal64& x, ipReal64& y) const;

    Matrix3d                getHomogenousMatrix() const;

    Vector                  getParams() const;

    bool                    isInvertible() const;

    Matrix3d                getInvHomogenousMatrix() const;

    Vector                  getInvParams() const;

// attributes
protected:
    Matrix3d        _matA;
};



inline void
Homography2d::setIdentity()
{
    setParams(getIdentityParams());
}


} // end of namespace transform
} // end of namespace math
} // end of namespace ipsdk

#pragma warning (pop)

#endif // __IPSDKMATH_HOMOGRAPHY2D_H__