/// <summary>
/// computes the best-fit perspective transformation mapping srcPoints to dstPoints.
/// </summary>
/// <param name="srcPoints">Coordinates of the points in the original plane</param>
/// <param name="dstPoints">Coordinates of the points in the target plane</param>
/// <param name="method">Method used to computed a homography matrix.</param>
/// <param name="ransacReprojThreshold">Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only)</param>
/// <param name="mask"> Optional output mask set by a robust method ( CV_RANSAC or CV_LMEDS ). Note that the input mask values are ignored.</param>
/// <returns></returns>
public static Mat FindHomography(IEnumerable<Point2d> srcPoints, IEnumerable<Point2d> dstPoints,
HomographyMethod method = HomographyMethod.Zero, double ransacReprojThreshold = 3,
OutputArray mask = null)
{
if (srcPoints == null)
throw new ArgumentNullException("srcPoints");
if (dstPoints == null)
throw new ArgumentNullException("dstPoints");
Point2d[] srcPointsArray = EnumerableEx.ToArray(srcPoints);
Point2d[] dstPointsArray = EnumerableEx.ToArray(dstPoints);
IntPtr mat = NativeMethods.calib3d_findHomography_vector(srcPointsArray, srcPointsArray.Length,
dstPointsArray, dstPointsArray.Length, (int)method, ransacReprojThreshold, ToPtr(mask));
if (mask != null)
mask.Fix();
return new Mat(mat);
}
/// <summary>
/// computes the best-fit perspective transformation mapping srcPoints to dstPoints.
/// </summary>
/// <param name="srcPoints">Coordinates of the points in the original plane, a matrix of the type CV_32FC2</param>
/// <param name="dstPoints">Coordinates of the points in the target plane, a matrix of the type CV_32FC2</param>
/// <param name="method">Method used to computed a homography matrix.</param>
/// <param name="ransacReprojThreshold">Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only)</param>
/// <param name="mask"> Optional output mask set by a robust method ( CV_RANSAC or CV_LMEDS ). Note that the input mask values are ignored.</param>
/// <returns></returns>
public static Mat FindHomography(InputArray srcPoints, InputArray dstPoints,
HomographyMethod method = HomographyMethod.Zero, double ransacReprojThreshold = 3,
OutputArray mask = null)
{
if (srcPoints == null)
throw new ArgumentNullException("srcPoints");
if (dstPoints == null)
throw new ArgumentNullException("dstPoints");
srcPoints.ThrowIfDisposed();
dstPoints.ThrowIfDisposed();
IntPtr mat = NativeMethods.calib3d_findHomography_InputArray(srcPoints.CvPtr, dstPoints.CvPtr, (int)method,
ransacReprojThreshold, ToPtr(mask));
if (mask != null)
mask.Fix();
return new Mat(mat);
}
/// <summary>
/// 2枚の画像間の射影変換を求める
/// </summary>
/// <param name="srcPoints">1枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．ここで N は点の数．</param>
/// <param name="dstPoints">2枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．</param>
/// <param name="homography">出力される3x3ホモグラフィ行列（平面射影変換行列）． </param>
/// <param name="method">ホモグラフィ行列を計算するための手法</param>
/// <param name="ransacReprojThreshold">点のペアをインライア値として扱うために許容される，逆投影誤差の最大値．このパラメータは，CV_RANSAC が指定された場合にのみ利用される．例えば，dst_points がピクセル精度のピクセル座標である場合，このパラメータは，おおよそ 1〜3 にセットされるのが正しい． </param>
/// <returns></returns>
#else
/// <summary>
/// Finds perspective transformation between two planes
/// </summary>
/// <param name="srcPoints">Point coordinates in the original plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates), where N is the number of points. </param>
/// <param name="dstPoints">Point coordinates in the destination plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates) </param>
/// <param name="homography">Output 3x3 homography matrix. </param>
/// <param name="method"></param>
/// <param name="ransacReprojThreshold"></param>
/// <returns></returns>
#endif
public static int FindHomography(CvMat srcPoints, CvMat dstPoints, CvMat homography, HomographyMethod method, double ransacReprojThreshold)
{
return FindHomography(srcPoints, dstPoints, homography, method, ransacReprojThreshold, null);
}
/// <summary>
/// 2枚の画像間の射影変換を求める
/// </summary>
/// <param name="srcPoints">1枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．ここで N は点の数．</param>
/// <param name="dstPoints">2枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．</param>
/// <param name="homography">出力される3x3ホモグラフィ行列（平面射影変換行列）． </param>
/// <param name="method">ホモグラフィ行列を計算するための手法</param>
/// <param name="ransacReprojThreshold">点のペアをインライア値として扱うために許容される，逆投影誤差の最大値．このパラメータは，CV_RANSAC が指定された場合にのみ利用される．例えば，dst_points がピクセル精度のピクセル座標である場合，このパラメータは，おおよそ 1〜3 にセットされるのが正しい． </param>
/// <param name="mask">オプション：ロバスト推定（CV_RANSAC， CV_LMEDS）で利用される出力マスク． </param>
/// <returns></returns>
#else
/// <summary>
/// Finds perspective transformation between two planes
/// </summary>
/// <param name="srcPoints">Point coordinates in the original plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates), where N is the number of points. </param>
/// <param name="dstPoints">Point coordinates in the destination plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates) </param>
/// <param name="homography">Output 3x3 homography matrix. </param>
/// <param name="method"></param>
/// <param name="ransacReprojThreshold"></param>
/// <param name="mask"></param>
/// <returns></returns>
#endif
public static int FindHomography(CvMat srcPoints, CvMat dstPoints, CvMat homography, HomographyMethod method, double ransacReprojThreshold, CvMat mask)
{
if (srcPoints == null)
throw new ArgumentNullException("srcPoints");
if (dstPoints == null)
throw new ArgumentNullException("dstPoints");
if (homography == null)
throw new ArgumentNullException("homography");
IntPtr maskPtr = (mask == null) ? IntPtr.Zero : mask.CvPtr;
return NativeMethods.cvFindHomography(srcPoints.CvPtr, dstPoints.CvPtr, homography.CvPtr, method, ransacReprojThreshold, maskPtr);
}
/// <summary>
/// 2枚の画像間の射影変換を求める
/// </summary>
/// <param name="srcPoints">1枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．ここで N は点の数．</param>
/// <param name="dstPoints">2枚目の画像上の座標． 2xN，Nx2，3xN または Nx3の配列 （後ろ二つは同次座標系表記である）．</param>
/// <param name="homography">出力される3x3ホモグラフィ行列（平面射影変換行列）． </param>
/// <param name="method">ホモグラフィ行列を計算するための手法</param>
/// <returns></returns>
#else
/// <summary>
/// Finds perspective transformation between two planes
/// </summary>
/// <param name="srcPoints">Point coordinates in the original plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates), where N is the number of points. </param>
/// <param name="dstPoints">Point coordinates in the destination plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogenious coordinates) </param>
/// <param name="homography">Output 3x3 homography matrix. </param>
/// <param name="method"></param>
/// <returns></returns>
#endif
public static int FindHomography(CvMat srcPoints, CvMat dstPoints, CvMat homography, HomographyMethod method)
{
return FindHomography(srcPoints, dstPoints, homography, method, 0, null);
}
