SIFTegomotion.H

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00001 /*!@file SIFT/SIFTegomotion.H  Calculates egomotion given a set of
00002   correspondence match */
00003 
00004 // //////////////////////////////////////////////////////////////////// //
00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00006 // University of Southern California (USC) and the iLab at USC.         //
00007 // See http://iLab.usc.edu for information about this project.          //
00008 // //////////////////////////////////////////////////////////////////// //
00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00011 // in Visual Environments, and Applications'' by Christof Koch and      //
00012 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00013 // pending; application number 09/912,225 filed July 23, 2001; see      //
00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00015 // //////////////////////////////////////////////////////////////////// //
00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00017 //                                                                      //
00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00019 // redistribute it and/or modify it under the terms of the GNU General  //
00020 // Public License as published by the Free Software Foundation; either  //
00021 // version 2 of the License, or (at your option) any later version.     //
00022 //                                                                      //
00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00026 // PURPOSE.  See the GNU General Public License for more details.       //
00027 //                                                                      //
00028 // You should have received a copy of the GNU General Public License    //
00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00031 // Boston, MA 02111-1307 USA.                                           //
00032 // //////////////////////////////////////////////////////////////////// //
00033 //
00034 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu>
00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SIFT/SIFTegomotion.H $
00036 // $Id: SIFTegomotion.H 6990 2006-08-11 18:13:51Z rjpeters $
00037 //
00038 
00039 #ifndef SIFTEGOMOTION_H_DEFINED
00040 #define SIFTEGOMOTION_H_DEFINED
00041 
00042 #include "SIFT/VisualObjectMatch.H"
00043 #include "GUI/XWinManaged.H"
00044 #include <complex>
00045 #include "SIFT/CameraIntrinsicParam.H"
00046 
00047 //! A class that calculates 3D egomotion from a set of matches
00048 class SIFTegomotion {
00049 public:
00050 
00051   //! Constructor
00052   SIFTegomotion(rutz::shared_ptr<VisualObjectMatch> match,
00053                 rutz::shared_ptr<CameraIntrinsicParam> cip = rutz::shared_ptr<CameraIntrinsicParam>(),
00054                 rutz::shared_ptr<XWinManaged> matchWin = rutz::shared_ptr<XWinManaged>());
00055 
00056   inline Image<double> getItsVel() const;
00057   inline Image<double> getItsOmega() const;
00058 
00059   void print(Image<double> img, const std::string& name = "name");
00060 
00061 private:
00062 
00063   // calculate egomotion
00064   void calc();
00065   void leastSquaresAlgebraic();
00066   void sevenPointAlgorithm();
00067 
00068   Image<double> constraint2(Image<double> T1);
00069   Image<double> constraint2(Image<double> T1, Image<double> T2);
00070   void checkConstraint2(Image<double> U, Image<double> T);
00071 
00072   Image<double> getThetaVelOmega(Image<double> vel, Image<double> omega);
00073   Image<double> getVel(Image<double> T);
00074   Image<double> getOmega(Image<double> T);
00075 
00076   Image<double> getThetaCW(Image<double> C, Image<double> W);
00077   Image<double> getC(Image<double> T);
00078   Image<double> getW(Image<double> T);
00079 
00080   void getUncalibCW(Image<double> T);
00081 
00082   void setCuMatch();
00083   Image<double> getU(int nPoint = -1);
00084 
00085   uint solveCubic(double p, double q, double r, double s,
00086                     std::vector<std::complex<double> >& x);
00087 
00088   //! the match the egomotion is based upon
00089   rutz::shared_ptr<VisualObjectMatch> itsVoMatch;
00090   std::vector<KeypointMatch> itsCuMatch; //!< its unique coordinate matches
00091   rutz::shared_ptr<CameraIntrinsicParam> itsCip;
00092   rutz::shared_ptr<XWinManaged> itsMatchWin;
00093 
00094   float itsXdot;      //!< X component of the velocity
00095   float itsYdot;      //!< Y component of the velocity
00096   float itsZdot;      //!< Z component of the velocity
00097 
00098   Image<double> itsVel;
00099   Image<double> itsOmega;
00100 
00101 };
00102 
00103 // ######################################################################
00104 // SIFTegomotion I/O:
00105 // ######################################################################
00106 
00107 
00108 // ######################################################################
00109 // ########## Implementation of inline functions
00110 // ######################################################################
00111 
00112 inline Image<double> SIFTegomotion::getItsVel() const
00113 { return itsVel; }
00114 
00115 inline Image<double> SIFTegomotion::getItsOmega() const
00116 { return itsVel; }
00117 
00118 #endif
00119 
00120 // ######################################################################
00121 /* So things look consistent in everyone's emacs... */
00122 /* Local Variables: */
00123 /* indent-tabs-mode: nil */
00124 /* End: */
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