vpHomography.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Homography transformation.
 */

 
#ifndef VP_HOMOGRAPHY_H
#define VP_HOMOGRAPHY_H
 
#include <list>
#include <vector>
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpPlane.h>
#include <visp3/core/vpPoint.h>
 
BEGIN_VISP_NAMESPACE

class VISP_EXPORT vpHomography : public vpArray2D<double>
{
public:
  vpHomography();
  vpHomography(const vpHomography &H);
  vpHomography(const vpHomogeneousMatrix &aMb, const vpPlane &bP);
  vpHomography(const vpRotationMatrix &aRb, const vpTranslationVector &atb, const vpPlane &bP);
  vpHomography(const vpThetaUVector &tu, const vpTranslationVector &atb, const vpPlane &bP);
  vpHomography(const vpPoseVector &arb, const vpPlane &bP);

  vpHomography &buildFrom(const vpRotationMatrix &aRb, const vpTranslationVector &atb, const vpPlane &bP);
  vpHomography &buildFrom(const vpThetaUVector &tu, const vpTranslationVector &atb, const vpPlane &bP);
  vpHomography &buildFrom(const vpPoseVector &arb, const vpPlane &bP);
  vpHomography &buildFrom(const vpHomogeneousMatrix &aMb, const vpPlane &bP);

  vpHomography collineation2homography(const vpCameraParameters &cam) const;

  vpMatrix convert() const;

  void computeDisplacement(vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n);

  void computeDisplacement(const vpColVector &nd, vpRotationMatrix &aRb, vpTranslationVector &atb, vpColVector &n);

  double det() const;

  void eye();

  vpHomography homography2collineation(const vpCameraParameters &cam) const;

  vpHomography inverse(double sv_threshold = 1e-16, unsigned int *rank = nullptr) const;

  void inverse(vpHomography &bHa) const;

  void load(std::ifstream &f);

  vpHomography operator*(const vpHomography &H) const;

  vpHomography operator*(const double &v) const;

  vpColVector operator*(const vpColVector &b) const;

  vpPoint operator*(const vpPoint &b_P) const;

  vpHomography operator/(const double &v) const;

  vpHomography &operator/=(double v);

  vpHomography &operator=(const vpHomography &H);

  vpHomography &operator=(const vpMatrix &H);

  vpImagePoint projection(const vpImagePoint &ipb);

  VP_NORETURN void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize an homography matrix"));
  }

  void save(std::ofstream &f) const;

  static void DLT(const std::vector<double> &xb, const std::vector<double> &yb, const std::vector<double> &xa,
                  const std::vector<double> &ya, vpHomography &aHb, bool normalization = true);

  static void HLM(const std::vector<double> &xb, const std::vector<double> &yb, const std::vector<double> &xa,
                  const std::vector<double> &ya, bool isplanar, vpHomography &aHb);

  static bool ransac(const std::vector<double> &xb, const std::vector<double> &yb, const std::vector<double> &xa,
                     const std::vector<double> &ya, vpHomography &aHb, std::vector<bool> &inliers, double &residual,
                     unsigned int nbInliersConsensus, double threshold, bool normalization = true);

  static vpImagePoint project(const vpCameraParameters &cam, const vpHomography &bHa, const vpImagePoint &iPa);

  static vpPoint project(const vpHomography &bHa, const vpPoint &Pa);

  static void robust(const std::vector<double> &xb, const std::vector<double> &yb, const std::vector<double> &xa,
                     const std::vector<double> &ya, vpHomography &aHb, std::vector<bool> &inliers, double &residual,
                     double weights_threshold = 0.4, unsigned int niter = 4, bool normalization = true);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
  static void build(vpHomography &aHb, const vpHomogeneousMatrix &aMb, const vpPlane &bP);
 
  static void computeDisplacement(const vpHomography &aHb, const vpColVector &nd, vpRotationMatrix &aRb,
                                  vpTranslationVector &atb, vpColVector &n);
 
  static void computeDisplacement(const vpHomography &aHb, vpRotationMatrix &aRb, vpTranslationVector &atb,
                                  vpColVector &n);
 
  static void computeDisplacement(const vpHomography &H, double x, double y, std::list<vpRotationMatrix> &vR,
                                  std::list<vpTranslationVector> &vT, std::list<vpColVector> &vN);
  static double computeDisplacement(unsigned int nbpoint, vpPoint *c1P, vpPoint *c2P, vpPlane &oN,
                                    vpHomogeneousMatrix &c2Mc1, vpHomogeneousMatrix &c1Mo, int userobust);
  static double computeDisplacement(unsigned int nbpoint, vpPoint *c1P, vpPoint *c2P, vpPlane *oN,
                                    vpHomogeneousMatrix &c2Mc1, vpHomogeneousMatrix &c1Mo, int userobust);
  static double computeResidual(vpColVector &x, vpColVector &M, vpColVector &d);
  // VVS
  static double computeRotation(unsigned int nbpoint, vpPoint *c1P, vpPoint *c2P, vpHomogeneousMatrix &c2Mc1,
                                int userobust);
  static void computeTransformation(vpColVector &x, unsigned int *ind, vpColVector &M);
  static bool degenerateConfiguration(const vpColVector &x, unsigned int *ind);
  static bool degenerateConfiguration(const vpColVector &x, unsigned int *ind, double threshold_area);
  static bool degenerateConfiguration(const std::vector<double> &xb, const std::vector<double> &yb,
                                      const std::vector<double> &xa, const std::vector<double> &ya);
  static void hartleyNormalization(unsigned int n, const double *x, const double *y, double *xn, double *yn, double &xg,
                                   double &yg, double &coef);
  static void hartleyNormalization(const std::vector<double> &x, const std::vector<double> &y, std::vector<double> &xn,
                                   std::vector<double> &yn, double &xg, double &yg, double &coef);
  static void hartleyDenormalization(vpHomography &aHbn, vpHomography &aHb, double xg1, double yg1, double coef1,
                                     double xg2, double yg2, double coef2);
 
#endif // DOXYGEN_SHOULD_SKIP_THIS
 
private:
  static const double m_sing_threshold; /* equals 0.0001 */
  static const double m_threshold_rotation;
  static const double m_threshold_displacement;
  vpHomogeneousMatrix m_aMb;

  vpPlane m_bP;

  void build();

  void insert(const vpHomogeneousMatrix &aRb);

  void insert(const vpRotationMatrix &aRb);

  void insert(const vpThetaUVector &tu);

  void insert(const vpTranslationVector &atb);

  void insert(const vpPlane &bP);
 
  static void initRansac(unsigned int n, double *xb, double *yb, double *xa, double *ya, vpColVector &x);
};
 
END_VISP_NAMESPACE
 
#endif