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affine33_fit.h File Reference

#include <gandalf/linalg/3vector.h>
#include <gandalf/linalg/3x3matrix.h>
#include <gandalf/linalg/2x3matrix.h>
#include <gandalf/linalg/pseudo_inverse.h>
#include <gandalf/vision/homog33_fit.h>

Go to the source code of this file.

Functions

Gan_PseudoInverseStructgan_affine33_init (Gan_PseudoInverseStruct *pis)
 Macro: Initialises the calculation of a 3x3 affine homography.

void gan_affine33_free (Gan_PseudoInverseStruct *pis)
 Macro: Frees structure used to calculate an affine 3x3 homography.

Gan_Bool gan_affine33_increment_p (Gan_PseudoInverseStruct *pis, Gan_Vector3 *X, Gan_Vector3 *x, double scale, int *eq_count)
 Increments the calculation of a 3x3 affine homography for a point.

Gan_Bool gan_affine33_increment_le (Gan_PseudoInverseStruct *pis, Gan_Vector3 *X, Gan_Vector3 *l, double scale, int *eq_count)
 Increments the calculation of a 3x3 homography for a line.

Gan_Bool gan_affine33_solve (Gan_PseudoInverseStruct *pis, int eq_count, Gan_Matrix23 *P)
 Solves for the 3x3 affine homography between two planes.

Gan_Bool gan_affine33_fit (Gan_Homog33Match *match, unsigned nmatches, Gan_Matrix23 *H)
 Computes the 2D affine transformation between points and lines.

Gan_Bool gan_affine33_reset (Gan_PseudoInverseStruct *pis)
 Macro: Resets the structure used to calculate a 3x3 affine homography.


Detailed Description

Module: Fit a 2D affine transformation to point/line data

Part of: Gandalf Library

Revision: Last edited: Author:

Copyright: (c) 2000 Imagineer Software Limited


Function Documentation

Gan_Bool gan_affine33_fit Gan_Homog33Match   match,
unsigned    nmatches,
Gan_Matrix23   H
 

Computes the 2D affine transformation between points and lines.

Parameters:
match Array of feature matches
nmatches The number of point/line matches
H The affine homography to be computed
Returns:
GAN_TRUE on success, GAN_FALSE on failure.
Solves for the affine homography between two planes, given point <--> point, line <--> line and point <--> line correspondences between the two planes, as given by the data array.

See also:
gan_homog33_fit().

Gan_Bool gan_affine33_increment_le Gan_PseudoInverseStruct   pis,
Gan_Vector3   X,
Gan_Vector3   l,
double    scale,
int *    eq_count
 

Increments the calculation of a 3x3 homography for a line.

Parameters:
pis A pointer to a pseudo-inverse structure
X A point in the source coordinate frame for the homography
l A line in the destination coordinate frame
scale A scaling on the outer product of #X & #l
eq_count Pointer to the total number of equations or NULL
Returns:
GAN_TRUE on success, GAN_FALSE on failure.
Increments the accumulated sum of outer products of vectors to be used to compute the homography between two projective 2D planes, given a point in one plane lying in a line in the other.

Call this function using points x having the same z coordinate.

See also:
gan_affine33_increment_l().

Gan_Bool gan_affine33_increment_p Gan_PseudoInverseStruct   pis,
Gan_Vector3   X,
Gan_Vector3   x,
double    scale,
int *    eq_count
 

Increments the calculation of a 3x3 affine homography for a point.

Parameters:
pis A pointer to a pseudo-inverse structure
X A point in the source coordinate frame for the homography
x A point in the destination coordinate frame
scale A scaling on the outer product of X and x
eq_count A pointer to the total number of equations or NULL
Returns:
GAN_TRUE success, GAN_FALSE failure.
Increments the accumulated sum of outer products of vectors to be used to compute the homography between two projective 2D planes, given a point correspondence between the planes.

Call this function using points x having the same z coordinate.

See also:
gan_affine33_increment_l().

Gan_Bool gan_affine33_solve Gan_PseudoInverseStruct   pis,
int    eq_count,
Gan_Matrix23   P
 

Solves for the 3x3 affine homography between two planes.

Parameters:
pis A pointer to a pseudo-inverse structure
eq_count Pointer to the total number of equations or NULL
P The homography matrix
Returns:
GAN_TRUE on success, GAN_FALSE on failure.
Solves for the 3x3 homography between two planes, having accumulated point/line correspondences.

See also:
gan_affine33_increment_l().


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