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/* */
/* Copyright 2007-2014 by Benjamin Seppke */
/* */
/* This file is part of the VIGRA computer vision library. */
/* The VIGRA Website is */
/* http://hci.iwr.uni-heidelberg.de/vigra/ */
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/* ullrich.koethe@iwr.uni-heidelberg.de or */
/* vigra@informatik.uni-hamburg.de */
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/************************************************************************/
#ifndef VIGRA_RBF_REGISTRATION_HXX
#define VIGRA_RBF_REGISTRATION_HXX
#include <vigra/mathutil.hxx>
#include <vigra/matrix.hxx>
#include <vigra/linear_solve.hxx>
#include <vigra/tinyvector.hxx>
#include <vigra/splineimageview.hxx>
#include <vigra/affine_registration.hxx>
namespace vigra {
/** \addtogroup Registration Image Registration
*/
//@{
namespace detail {
// Small and hopefully fast helper function to compute the squared-distance
// between two points (2d)
template <class SrcPoint, class DestPoint>
inline double distance2(SrcPoint const & p1, DestPoint const & p2)
{
return (double)(p1[0]-p2[0])*(p1[0]-p2[0]) + (p1[1]-p2[1])*(p1[1]-p2[1]);
}
} //end of namespace vigra::detail
/**
* The famous thin plate spline functor [weight(d) = d^2*log(d^2)]
* only affects up to max distance...
*/
struct ThinPlateSplineFunctor
{
template <class SrcPoint, class DestPoint>
inline double operator()(SrcPoint const & p1, DestPoint const & p2) const
{
double dist2 = detail::distance2(p1, p2);
if(dist2 == 0 )
{
return 0;
}
else
{
return dist2*log(dist2);
}
}
};
/**
* A distance power based radial basis functor [weight = dist^N]
*/
template<int N>
struct DistancePowerFunctor
{
template <class SrcPoint, class DestPoint>
inline double operator()(SrcPoint const & p1, DestPoint const & p2) const
{
double dist2 = detail::distance2(p1, p2);
if(dist2 == 0)
{
return 0;
}
else
{
return pow(dist2, N/2.0);
}
}
};
/********************************************************/
/* */
/* rbfMatrix2DFromCorrespondingPoints */
/* */
/********************************************************/
/** \brief Create a matrix that maps corresponding points onto each other using a given RBF.
For use with \ref rbfWarpImage(). For n given (corresponding) points,
the matrix will be of size (n+3,2). Note that the representation of this matrix is exactly
the same as the "W" matrix of Bookstein. More information can be found in the following article:
Fred L. Bookstein. Principal Warps: Thin-Plate Splines and the Decomposition of Deformations. IEEE PAMI, Vol 11, No 8. 1989
*/
template <class RadialBasisFunctor,
class SrcPointIterator, class DestPointIterator>
linalg::TemporaryMatrix<double>
rbfMatrix2DFromCorrespondingPoints(SrcPointIterator s, SrcPointIterator s_end, DestPointIterator d, RadialBasisFunctor const & rbf)
{
int point_count = s_end - s;
Matrix<double> L(point_count+3, point_count+3, 0.0);
Matrix<double> Y(point_count+3, 2, 0.0);
Matrix<double> W(point_count+3, 2, 0.0);
//fill P (directly into K) and V (directly into Y)
for(int i=0; i<point_count; ++i)
{
L(i, point_count ) = L(point_count, i) = 1;
L(i, point_count+1) = L(point_count+1, i) = (d[i])[0];
L(i, point_count+2) = L(point_count+2, i) = (d[i])[1];
Y(i,0)= (s[i])[0];
Y(i,1)= (s[i])[1];
}
//fill K (directly into L)
for(int j=0; j<point_count; j++)
{
for(int i=0; i<j; i++)
{
L(i,j) = L(j,i) = rbf(d[i], d[j]);
}
}
linearSolve(L, Y, W);
//Results are okay, even if vigra reports failure...
//so I commented this out
// if(!linearSolve(L, Y, W))
// vigra_fail("radialBasisMatrix2DFromCorrespondingPoints(): singular solution matrix.");
return W;
};
/********************************************************/
/* */
/* rbfWarpImage */
/* */
/********************************************************/
/** \brief Warp an image according to an radial basis function based transformation.
To get more information about the structure of the matrix, see \ref rbfMatrix2DFromCorrespondingPoints()
<b>\#include</b> \<vigra/rbf_registration.hxx\><br>
Namespace: vigra
pass 2D array views:
\code
namespace vigra {
template <int ORDER, class T,
class T2, class S2,
class DestPointIterator,
class C,
class RadialBasisFunctor>
void
rbfWarpImage(SplineImageView<ORDER, T> const & src,
MultiArrayView<2, T2, S2> dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf);
}
\endcode
\deprecatedAPI{rbfWarpImage}
pass arguments explicitly:
\code
namespace vigra {
template <int ORDER, class T,
class DestIterator, class DestAccessor,
class DestPointIterator,
class C,
class RadialBasisFunctor>
void
rbfWarpImage(SplineImageView<ORDER, T> const & src,
DestIterator dul, DestIterator dlr, DestAccessor dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf);
}
\endcode
use argument objects in conjunction with \ref ArgumentObjectFactories :
\code
namespace vigra {
template <int ORDER, class T,
class DestIterator, class DestAccessor,
class DestPointIterator,
class C,
class RadialBasisFunctor>
void
rbfWarpImage(SplineImageView<ORDER, T> const & src,
triple<DestIterator, DestIterator, DestAccessor> dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf);
}
}
\endcode
\deprecatedEnd
*/
template <int ORDER, class T,
class DestIterator, class DestAccessor,
class DestPointIterator,
class C,
class RadialBasisFunctor>
void
rbfWarpImage(SplineImageView<ORDER, T> const & src,
DestIterator dul, DestIterator dlr, DestAccessor dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf)
{
int point_count = d_end - d;
vigra_precondition(rowCount(W) == point_count+3 && columnCount(W) == 2,
"vigra::rbfWarpImage(): matrix doesn't represent a proper transformation of given point size in 2D coordinates.");
double w = dlr.x - dul.x;
double h = dlr.y - dul.y;
for(double y = 0.0; y < h; ++y, ++dul.y)
{
typename DestIterator::row_iterator rd = dul.rowIterator();
for(double x=0.0; x < w; ++x, ++rd)
{
//Affine part
double sx = W(point_count,0)+W(point_count+1,0)*x+ W(point_count+2,0)*y,
sy = W(point_count,1)+W(point_count+1,1)*x+ W(point_count+2,1)*y;
//RBS part
for(int i=0; i<point_count; i++)
{
double weight = rbf(d[i], Diff2D(x,y));
sx += W(i,0)*weight;
sy += W(i,1)*weight;
}
if(src.isInside(sx, sy))
dest.set(src(sx, sy), rd);
}
}
};
template <int ORDER, class T,
class DestIterator, class DestAccessor,
class DestPointIterator,
class C,
class RadialBasisFunctor>
inline
void rbfWarpImage(SplineImageView<ORDER, T> const & src,
triple<DestIterator, DestIterator, DestAccessor> dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf)
{
rbfWarpImage(src, dest.first, dest.second, dest.third, d, d_end, W, rbf);
}
template <int ORDER, class T,
class T2, class S2,
class DestPointIterator,
class C,
class RadialBasisFunctor>
inline
void rbfWarpImage(SplineImageView<ORDER, T> const & src,
MultiArrayView<2, T2, S2> dest,
DestPointIterator d, DestPointIterator d_end,
MultiArrayView<2, double, C> const & W,
RadialBasisFunctor rbf)
{
rbfWarpImage(src, destImageRange(dest), d, d_end, W, rbf);
}
//@}
} // namespace vigra
#endif /* VIGRA_RBF_REGISTRATION_HXX */
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