Class allowing to estimate a 2d homography transformationWe compute a homography transformation such as :

$H = \left \{ \begin{pmatrix} h_{xx} & h_{xy} & h_{xw} \\ h_{yx} & h_{yy} & h_{yw} \\ h_{wx} & h_{wy} & h_{ww} \\ \end{pmatrix} \right \}$

. More...

#include <HomographyTransform2dEstimator.h>

Inheritance diagram for ipsdk::geom::HomographyTransform2dEstimator:

Public Types
enum	eEstimParams { eEP_Hxx, eEP_Hxy, eEP_Hxw, eEP_Hyx, eEP_Hyy, eEP_Hyw, eEP_Hwx, eEP_Hwy, eEP_Hww }

enum	eDataType { eDT_X1, eDT_Y1, eDT_X2, eDT_Y2 }

Public Member Functions
BoolResult	computeEstimation (const math::DataSet &dataSet, math::Matrix3d &matH)
	method allowing to estimate homography matrix from a given data set More...

BoolResult	computeResiduals (const math::DataSet &dataSet, const math::Matrix3d &matH, math::ResidualsSet &residualsSet) const
	method allowing to compute estimation residuals from a given data set and some estimated parameters More...

Constructors and destructor
	HomographyTransform2dEstimator ()

	~HomographyTransform2dEstimator ()

Public Member Functions inherited from ipsdk::math::BaseEstimator
bool	isInit () const
	check for object initialization

ipUInt32	getNbMinRequestedData () const
	retrieve minimum data set size to ensure an estimation More...

ipUInt32	getNbEstimParams () const
	retrieve number of estimated parameters More...

ipUInt32	getDataSize () const
	unitary data size into data set collection More...

BoolResult	computeEstimation (const DataSet &dataSet, ParameterType &estimParams)
	method allowing to estimate parameters from a given data set More...

BoolResult	computeResiduals (const DataSet &dataSet, const ParameterType &estimParams, ResidualsSet &residualsSet) const
	method allowing to compute estimation residuals from a given data set and some estimated parameters More...

	BaseEstimator ()

virtual	~BaseEstimator ()=0

Static Public Attributes
static const ipUInt32	g_parameterSize = eEstimParams::size
	size of estimated parameters

static const ipUInt32	g_dataSize = eDataType::size
	size of data into data set

Protected Member Functions
BoolResult	processEstimation (const math::DataSet &dataSet, math::ParameterType &estimParams)
	method allowing to compute estimation into derived classes More...

BoolResult	processResiduals (const math::DataSet &dataSet, const math::ParameterType &estimParams, math::ResidualsSet &residualsSet) const
	method allowing to compute residuals into derived classes More...

Protected Member Functions inherited from ipsdk::math::BaseEstimator
void	initBase (const ipUInt32 nbMinRequestedData, const ipUInt32 nbEstimParams, const ipUInt32 dataSize)
	base class initialization More...

BoolResult	checkData (const DataSet &dataSet, const ParameterType &estimParams) const
	method allowing to check input data properties associated to estimation More...

virtual BoolResult	processEstimation (const DataSet &dataSet, ParameterType &estimParams)=0
	method allowing to compute estimation into derived classes More...

virtual BoolResult	processResiduals (const DataSet &dataSet, const ParameterType &estimParams, ResidualsSet &residualsSet) const =0
	method allowing to compute residuals into derived classes More...

Detailed Description

Class allowing to estimate a 2d homography transformation

We compute a homography transformation such as :

$H = \left \{ \begin{pmatrix} h_{xx} & h_{xy} & h_{xw} \\ h_{yx} & h_{yy} & h_{yw} \\ h_{wx} & h_{wy} & h_{ww} \\ \end{pmatrix} \right \}$

.

Author: E.Noirfalise

Date: 2016/12/28

Copyright: 2016 Reactiv'IP, all right reserved.

and where a pair of input points $p_1=\begin{pmatrix}x_1 \\ y_1\end{pmatrix}$ and $p_2=\begin{pmatrix}x_2 \\ y_2\end{pmatrix}$ are linked by following estimation formula :

$p_2 = H \times p_1$

See also: Homography Estimation, David Kriegman, Computer Vision I, CSE252A, Winter 2007

Member Enumeration Documentation

◆ eEstimParams

enum ipsdk::geom::HomographyTransform2dEstimator::eEstimParams

description of estimated parameters (8 degrees of freedom)

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eEP_Hxx	XX coefficient of homography matrix.
eEP_Hxy	XY coefficient of homography matrix.
eEP_Hxw	XW coefficient of homography matrix.
eEP_Hyx	YX coefficient of homography matrix.
eEP_Hyy	YY coefficient of homography matrix.
eEP_Hyw	YW coefficient of homography matrix.
eEP_Hwx	WX coefficient of homography matrix.
eEP_Hwy	WY coefficient of homography matrix.
eEP_Hww	WW coefficient of homography matrix.

◆ eDataType

enum ipsdk::geom::HomographyTransform2dEstimator::eDataType

description of data into data set

Note: This object is associated to a strong enumerate definition

See also: IPSDK_Enum

Enumerator
eDT_X1	x coordinate of first point
eDT_Y1	y coordinate of first point
eDT_X2	x coordinate of second point
eDT_Y2	y coordinate of second point

Member Function Documentation

◆ computeEstimation()

BoolResult ipsdk::geom::HomographyTransform2dEstimator::computeEstimation	(	const math::DataSet &	dataSet,
		math::Matrix3d &	matH
	)

method allowing to estimate homography matrix from a given data set

Exceptions

ipsdk::math::IPSDKMathException if isInit() == false

Returns: false in case of failure

◆ computeResiduals()

BoolResult ipsdk::geom::HomographyTransform2dEstimator::computeResiduals	(	const math::DataSet &	dataSet,
		const math::Matrix3d &	matH,
		math::ResidualsSet &	residualsSet
	)		const

method allowing to compute estimation residuals from a given data set and some estimated parameters

Exceptions

ipsdk::math::IPSDKMathException	if isInit() == false
ipsdk::math::IPSDKMathException	if dataSet.size() != residualsSet.size()

Returns: false in case of failure

◆ processEstimation()

BoolResult ipsdk::geom::HomographyTransform2dEstimator::processEstimation	(	const math::DataSet &	dataSet,
		math::ParameterType &	estimParams
	)

protected

method allowing to compute estimation into derived classes

Returns: false in case of failure

◆ processResiduals()

BoolResult ipsdk::geom::HomographyTransform2dEstimator::processResiduals	(	const math::DataSet &	dataSet,
		const math::ParameterType &	estimParams,
		math::ResidualsSet &	residualsSet
	)		const

protected

method allowing to compute residuals into derived classes

Returns: false in case of failure

The documentation for this class was generated from the following file:

/media/reactivipdev/Nightly/IPSDK_Patch/IPSDK_4_1/IPSDK_Nightly/include/public/IPSDKGeometry/Estimation/2d/HomographyTransform2dEstimator.h

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions