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<html><head><title>dlib C++ Library - point_transforms.h</title></head><body bgcolor='white'><pre> |
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<font color='#009900'>// Copyright (C) 2003 Davis E. King ([email protected]) |
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</font><font color='#009900'>// License: Boost Software License See LICENSE.txt for the full license. |
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</font><font color='#0000FF'>#ifndef</font> DLIB_POINT_TrANSFORMS_H_ |
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<font color='#0000FF'>#define</font> DLIB_POINT_TrANSFORMS_H_ |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='point_transforms_abstract.h.html'>point_transforms_abstract.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='../algs.h.html'>../algs.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='vector.h.html'>vector.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='../matrix.h.html'>../matrix.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='../matrix/matrix_la.h.html'>../matrix/matrix_la.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='../optimization/optimization.h.html'>../optimization/optimization.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='rectangle.h.html'>rectangle.h</a>" |
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<font color='#0000FF'>#include</font> "<a style='text-decoration:none' href='drectangle.h.html'>drectangle.h</a>" |
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<font color='#0000FF'>#include</font> <font color='#5555FF'><</font>vector<font color='#5555FF'>></font> |
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<font color='#0000FF'>#include</font> <font color='#5555FF'><</font>cmath<font color='#5555FF'>></font> |
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<font color='#0000FF'>namespace</font> dlib |
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<b>{</b> |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='point_rotator'></a>point_rotator</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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<b><a name='point_rotator'></a>point_rotator</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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sin_angle <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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cos_angle <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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<b>}</b> |
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<b><a name='point_rotator'></a>point_rotator</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font><font color='#5555FF'>&</font> angle |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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sin_angle <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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cos_angle <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>template</font> <font color='#5555FF'><</font><font color='#0000FF'>typename</font> T<font color='#5555FF'>></font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'><u>double</u></font> x <font color='#5555FF'>=</font> cos_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>-</font> sin_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'><u>double</u></font> y <font color='#5555FF'>=</font> sin_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> cos_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>return</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font face='Lucida Console'>(</font>x,y<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='get_m'></a>get_m</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> temp; |
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temp <font color='#5555FF'>=</font> cos_angle, <font color='#5555FF'>-</font>sin_angle, |
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sin_angle, cos_angle; |
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<font color='#0000FF'>return</font> temp; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> point_rotator<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.sin_angle, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.cos_angle, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>point_rotator<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.sin_angle, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.cos_angle, in<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>private</font>: |
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<font color='#0000FF'><u>double</u></font> sin_angle; |
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<font color='#0000FF'><u>double</u></font> cos_angle; |
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<b>}</b>; |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='point_transform'></a>point_transform</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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<b><a name='point_transform'></a>point_transform</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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sin_angle <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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cos_angle <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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translate.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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translate.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<b>}</b> |
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<b><a name='point_transform'></a>point_transform</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font><font color='#5555FF'>&</font> angle, |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> translate_ |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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sin_angle <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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cos_angle <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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translate <font color='#5555FF'>=</font> translate_; |
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<b>}</b> |
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<font color='#0000FF'>template</font> <font color='#5555FF'><</font><font color='#0000FF'>typename</font> T<font color='#5555FF'>></font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'><u>double</u></font> x <font color='#5555FF'>=</font> cos_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>-</font> sin_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'><u>double</u></font> y <font color='#5555FF'>=</font> sin_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> cos_angle<font color='#5555FF'>*</font>p.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>return</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font face='Lucida Console'>(</font>x,y<font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> translate; |
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<b>}</b> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='get_m'></a>get_m</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> temp; |
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temp <font color='#5555FF'>=</font> cos_angle, <font color='#5555FF'>-</font>sin_angle, |
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sin_angle, cos_angle; |
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<font color='#0000FF'>return</font> temp; |
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<b>}</b> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='get_b'></a>get_b</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> translate; <b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> point_transform<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.sin_angle, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.cos_angle, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.translate, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>point_transform<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.sin_angle, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.cos_angle, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.translate, in<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>private</font>: |
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<font color='#0000FF'><u>double</u></font> sin_angle; |
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<font color='#0000FF'><u>double</u></font> cos_angle; |
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dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> translate; |
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<b>}</b>; |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='point_transform_affine'></a>point_transform_affine</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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<b><a name='point_transform_affine'></a>point_transform_affine</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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m <font color='#5555FF'>=</font> identity_matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>2</font><font face='Lucida Console'>)</font>; |
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b.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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b.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<b>}</b> |
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<b><a name='point_transform_affine'></a>point_transform_affine</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> m_, |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> b_ |
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<font face='Lucida Console'>)</font> :m<font face='Lucida Console'>(</font>m_<font face='Lucida Console'>)</font>, b<font face='Lucida Console'>(</font>b_<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<b>}</b> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> m<font color='#5555FF'>*</font>p <font color='#5555FF'>+</font> b; |
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<b>}</b> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> <b><a name='get_m'></a>get_m</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> m; <b>}</b> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> <b><a name='get_b'></a>get_b</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> b; <b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.m, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.b, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>point_transform_affine<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.m, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.b, in<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>private</font>: |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> m; |
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dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> b; |
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<b>}</b>; |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='rectangle_transform'></a>rectangle_transform</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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<b><a name='rectangle_transform'></a>rectangle_transform</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<b>}</b> |
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<b><a name='rectangle_transform'></a>rectangle_transform</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> tform_ |
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<font face='Lucida Console'>)</font> :tform<font face='Lucida Console'>(</font>tform_<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<b>}</b> |
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drectangle <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> drectangle<font color='#5555FF'>&</font> r |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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dpoint tl <font color='#5555FF'>=</font> r.<font color='#BB00BB'>tl_corner</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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dpoint tr <font color='#5555FF'>=</font> r.<font color='#BB00BB'>tr_corner</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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dpoint bl <font color='#5555FF'>=</font> r.<font color='#BB00BB'>bl_corner</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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dpoint br <font color='#5555FF'>=</font> r.<font color='#BB00BB'>br_corner</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#009900'>// The new rectangle would ideally have this area if we could actually rotate |
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</font> <font color='#009900'>// the box. Note the 1+ is because that's how the rectangles calculate their |
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</font> <font color='#009900'>// width and height. |
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</font> <font color='#0000FF'><u>double</u></font> new_area <font color='#5555FF'>=</font> <font face='Lucida Console'>(</font><font color='#979000'>1</font><font color='#5555FF'>+</font><font color='#BB00BB'>length</font><font face='Lucida Console'>(</font><font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>tl<font face='Lucida Console'>)</font><font color='#5555FF'>-</font><font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>tr<font face='Lucida Console'>)</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font color='#5555FF'>+</font><font color='#BB00BB'>length</font><font face='Lucida Console'>(</font><font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>tl<font face='Lucida Console'>)</font><font color='#5555FF'>-</font><font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>bl<font face='Lucida Console'>)</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
|
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<font color='#009900'>// But if we rotate the corners of the rectangle and then find the rectangle |
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</font> <font color='#009900'>// that contains them we get this, which might have a much larger area than we |
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</font> <font color='#009900'>// want. |
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</font> drectangle temp; |
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temp <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>tl<font face='Lucida Console'>)</font>; |
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temp <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>tr<font face='Lucida Console'>)</font>; |
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temp <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>bl<font face='Lucida Console'>)</font>; |
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temp <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>tform</font><font face='Lucida Console'>(</font>br<font face='Lucida Console'>)</font>; |
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<font color='#009900'>// so we adjust the area to match the target area and have the same center as |
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</font> <font color='#009900'>// the above box. |
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</font> <font color='#0000FF'><u>double</u></font> scale <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sqrt</font><font face='Lucida Console'>(</font>new_area<font color='#5555FF'>/</font>temp.<font color='#BB00BB'>area</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
|
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<font color='#0000FF'>return</font> <font color='#BB00BB'>centered_rect</font><font face='Lucida Console'>(</font><font color='#BB00BB'>center</font><font face='Lucida Console'>(</font>temp<font face='Lucida Console'>)</font>, std::<font color='#BB00BB'>round</font><font face='Lucida Console'>(</font>temp.<font color='#BB00BB'>width</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>scale<font face='Lucida Console'>)</font>, std::<font color='#BB00BB'>round</font><font face='Lucida Console'>(</font>temp.<font color='#BB00BB'>height</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>scale<font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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rectangle <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> rectangle<font color='#5555FF'>&</font> r |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> <font face='Lucida Console'>(</font><font color='#5555FF'>*</font><font color='#0000FF'>this</font><font face='Lucida Console'>)</font><font face='Lucida Console'>(</font><font color='#BB00BB'>drectangle</font><font face='Lucida Console'>(</font>r<font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> <b><a name='get_tform'></a>get_tform</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> tform; <b>}</b> |
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|
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> rectangle_transform<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.tform, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>rectangle_transform<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.tform, in<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#0000FF'>private</font>: |
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point_transform_affine tform; |
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<b>}</b>; |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> point_transform_affine <b><a name='operator'></a>operator</b><font color='#5555FF'>*</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> lhs, |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> rhs |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine</font><font face='Lucida Console'>(</font>lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>rhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>, lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>rhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>+</font>lhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> point_transform_affine <b><a name='inv'></a>inv</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> trans |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> im <font color='#5555FF'>=</font> <font color='#BB00BB'>inv</font><font face='Lucida Console'>(</font>trans.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine</font><font face='Lucida Console'>(</font>im, <font color='#5555FF'>-</font>im<font color='#5555FF'>*</font>trans.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>template</font> <font color='#5555FF'><</font><font color='#0000FF'>typename</font> T<font color='#5555FF'>></font> |
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point_transform_affine <b><a name='find_affine_transform'></a>find_affine_transform</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points, |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#009900'>// make sure requires clause is not broken |
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</font> <font color='#BB00BB'>DLIB_ASSERT</font><font face='Lucida Console'>(</font>from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font><font color='#5555FF'>=</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>&</font><font color='#5555FF'>&</font> |
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from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>></font><font color='#5555FF'>=</font> <font color='#979000'>3</font>, |
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"<font color='#CC0000'>\t point_transform_affine find_affine_transform(from_points, to_points)</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t Invalid inputs were given to this function.</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t from_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t to_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
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<font face='Lucida Console'>)</font>; |
|
|
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>0</font><font color='#5555FF'>></font> <font color='#BB00BB'>P</font><font face='Lucida Console'>(</font><font color='#979000'>3</font>, from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>0</font><font color='#5555FF'>></font> <font color='#BB00BB'>Q</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>, from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
|
|
<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#BB00BB'>P</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,i<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> from_points[i].<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
<font color='#BB00BB'>P</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,i<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> from_points[i].<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
<font color='#BB00BB'>P</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,i<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
|
|
|
<font color='#BB00BB'>Q</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,i<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> to_points[i].<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
<font color='#BB00BB'>Q</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,i<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> to_points[i].<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m <font color='#5555FF'>=</font> Q<font color='#5555FF'>*</font><font color='#BB00BB'>pinv</font><font face='Lucida Console'>(</font>P<font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine</font><font face='Lucida Console'>(</font><font color='#BB00BB'>subm</font><font face='Lucida Console'>(</font>m,<font color='#979000'>0</font>,<font color='#979000'>0</font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font>, <font color='#BB00BB'>colm</font><font face='Lucida Console'>(</font>m,<font color='#979000'>2</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>template</font> <font color='#5555FF'><</font><font color='#0000FF'>typename</font> T<font color='#5555FF'>></font> |
|
point_transform_affine <b><a name='find_similarity_transform'></a>find_similarity_transform</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points, |
|
<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#009900'>// make sure requires clause is not broken |
|
</font> <font color='#BB00BB'>DLIB_ASSERT</font><font face='Lucida Console'>(</font>from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font><font color='#5555FF'>=</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>&</font><font color='#5555FF'>&</font> |
|
from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>></font><font color='#5555FF'>=</font> <font color='#979000'>2</font>, |
|
"<font color='#CC0000'>\t point_transform_affine find_similarity_transform(from_points, to_points)</font>" |
|
<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t Invalid inputs were given to this function.</font>" |
|
<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t from_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
|
<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t to_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
|
<font face='Lucida Console'>)</font>; |
|
|
|
<font color='#009900'>// We use the formulas from the paper: Least-squares estimation of transformation |
|
</font> <font color='#009900'>// parameters between two point patterns by Umeyama. They are equations 34 through |
|
</font> <font color='#009900'>// 43. |
|
</font> |
|
dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> mean_from, mean_to; |
|
<font color='#0000FF'><u>double</u></font> sigma_from <font color='#5555FF'>=</font> <font color='#979000'>0</font>, sigma_to <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> cov; |
|
cov <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
|
|
|
<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
mean_from <font color='#5555FF'>+</font><font color='#5555FF'>=</font> from_points[i]; |
|
mean_to <font color='#5555FF'>+</font><font color='#5555FF'>=</font> to_points[i]; |
|
<b>}</b> |
|
mean_from <font color='#5555FF'>/</font><font color='#5555FF'>=</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
mean_to <font color='#5555FF'>/</font><font color='#5555FF'>=</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
|
|
<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
sigma_from <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>length_squared</font><font face='Lucida Console'>(</font>from_points[i] <font color='#5555FF'>-</font> mean_from<font face='Lucida Console'>)</font>; |
|
sigma_to <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>length_squared</font><font face='Lucida Console'>(</font>to_points[i] <font color='#5555FF'>-</font> mean_to<font face='Lucida Console'>)</font>; |
|
cov <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font face='Lucida Console'>(</font>to_points[i] <font color='#5555FF'>-</font> mean_to<font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>from_points[i] <font color='#5555FF'>-</font> mean_from<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
sigma_from <font color='#5555FF'>/</font><font color='#5555FF'>=</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
sigma_to <font color='#5555FF'>/</font><font color='#5555FF'>=</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
cov <font color='#5555FF'>/</font><font color='#5555FF'>=</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
|
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> u, v, s, d; |
|
<font color='#BB00BB'>svd</font><font face='Lucida Console'>(</font>cov, u,d,v<font face='Lucida Console'>)</font>; |
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s <font color='#5555FF'>=</font> <font color='#BB00BB'>identity_matrix</font><font face='Lucida Console'>(</font>cov<font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>if</font> <font face='Lucida Console'>(</font><font color='#BB00BB'>det</font><font face='Lucida Console'>(</font>cov<font face='Lucida Console'>)</font> <font color='#5555FF'><</font> <font color='#979000'>0</font> <font color='#5555FF'>|</font><font color='#5555FF'>|</font> <font face='Lucida Console'>(</font><font color='#BB00BB'>det</font><font face='Lucida Console'>(</font>cov<font face='Lucida Console'>)</font> <font color='#5555FF'>=</font><font color='#5555FF'>=</font> <font color='#979000'>0</font> <font color='#5555FF'>&</font><font color='#5555FF'>&</font> <font color='#BB00BB'>det</font><font face='Lucida Console'>(</font>u<font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>det</font><font face='Lucida Console'>(</font>v<font face='Lucida Console'>)</font><font color='#5555FF'><</font><font color='#979000'>0</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>if</font> <font face='Lucida Console'>(</font><font color='#BB00BB'>d</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'><</font> <font color='#BB00BB'>d</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font> |
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<font color='#BB00BB'>s</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font color='#979000'>1</font>; |
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<font color='#0000FF'>else</font> |
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<font color='#BB00BB'>s</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font color='#979000'>1</font>; |
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<b>}</b> |
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|
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> r <font color='#5555FF'>=</font> u<font color='#5555FF'>*</font>s<font color='#5555FF'>*</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>v<font face='Lucida Console'>)</font>; |
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<font color='#0000FF'><u>double</u></font> c <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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<font color='#0000FF'>if</font> <font face='Lucida Console'>(</font>sigma_from <font color='#5555FF'>!</font><font color='#5555FF'>=</font> <font color='#979000'>0</font><font face='Lucida Console'>)</font> |
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c <font color='#5555FF'>=</font> <font color='#979000'>1.0</font><font color='#5555FF'>/</font>sigma_from <font color='#5555FF'>*</font> <font color='#BB00BB'>trace</font><font face='Lucida Console'>(</font>d<font color='#5555FF'>*</font>s<font face='Lucida Console'>)</font>; |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> t <font color='#5555FF'>=</font> mean_to <font color='#5555FF'>-</font> c<font color='#5555FF'>*</font>r<font color='#5555FF'>*</font>mean_from; |
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|
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine</font><font face='Lucida Console'>(</font>c<font color='#5555FF'>*</font>r, t<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='point_transform_projective'></a>point_transform_projective</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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|
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<b><a name='point_transform_projective'></a>point_transform_projective</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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m <font color='#5555FF'>=</font> identity_matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>3</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<b><a name='point_transform_projective'></a>point_transform_projective</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> m_ |
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<font face='Lucida Console'>)</font> :m<font face='Lucida Console'>(</font>m_<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<b>}</b> |
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|
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<b><a name='point_transform_projective'></a>point_transform_projective</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> tran |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>m, <font color='#979000'>0</font>,<font color='#979000'>0</font>, <font color='#979000'>2</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> tran.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>m, <font color='#979000'>0</font>,<font color='#979000'>2</font>, <font color='#979000'>2</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> tran.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>m</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#BB00BB'>m</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#BB00BB'>m</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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<b>}</b> |
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|
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> <font color='#BB00BB'>temp</font><font face='Lucida Console'>(</font>p<font face='Lucida Console'>)</font>; |
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temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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temp <font color='#5555FF'>=</font> m<font color='#5555FF'>*</font>temp; |
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<font color='#0000FF'>if</font> <font face='Lucida Console'>(</font>temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>!</font><font color='#5555FF'>=</font> <font color='#979000'>0</font><font face='Lucida Console'>)</font> |
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temp <font color='#5555FF'>=</font> temp<font color='#5555FF'>/</font>temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>return</font> temp; |
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<b>}</b> |
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|
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> <b><a name='get_m'></a>get_m</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> m; <b>}</b> |
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|
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> point_transform_projective<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.m, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
|
|
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>point_transform_projective<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.m, in<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
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<font color='#0000FF'>private</font>: |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
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<b>}</b>; |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> point_transform_projective <b><a name='operator'></a>operator</b><font color='#5555FF'>*</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_projective<font color='#5555FF'>&</font> lhs, |
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<font color='#0000FF'>const</font> point_transform_projective<font color='#5555FF'>&</font> rhs |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_projective</font><font face='Lucida Console'>(</font>lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>rhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
|
|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> point_transform_projective <b><a name='inv'></a>inv</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_projective<font color='#5555FF'>&</font> trans |
|
<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_projective</font><font face='Lucida Console'>(</font><font color='#BB00BB'>inv</font><font face='Lucida Console'>(</font>trans.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
|
|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>namespace</font> impl_proj |
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<b>{</b> |
|
|
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<font color='#0000FF'>inline</font> point_transform_projective <b><a name='find_projective_transform_basic'></a>find_projective_transform_basic</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points, |
|
<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points |
|
<font face='Lucida Console'>)</font> |
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<font color='#009900'>/*! |
|
ensures |
|
- Uses the system of equations approach to finding a projective transform. |
|
This is "Method 3" from Estimating Projective Transformation Matrix by |
|
Zhengyou Zhang. |
|
- It should be emphasized that the find_projective_transform_basic() |
|
routine, which uses the most popular method for finding projective |
|
transformations, doesn't really work well when the minimum error solution |
|
doesn't have zero error. In this case, it can deviate by a large amount |
|
from the proper minimum mean squared error transformation. Therefore, |
|
our overall strategy will be to use the solution from |
|
find_projective_transform_basic() as a starting point for a BFGS based |
|
non-linear optimizer which will optimize the correct mean squared error |
|
criterion. |
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|
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A great essay on this subject is Homography Estimation by Elan Dubrofsky. |
|
!*/</font> |
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<b>{</b> |
|
<font color='#009900'>// make sure requires clause is not broken |
|
</font> <font color='#BB00BB'>DLIB_ASSERT</font><font face='Lucida Console'>(</font>from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font><font color='#5555FF'>=</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>&</font><font color='#5555FF'>&</font> |
|
from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>></font><font color='#5555FF'>=</font> <font color='#979000'>4</font>, |
|
"<font color='#CC0000'>\t point_transform_projective find_projective_transform_basic(from_points, to_points)</font>" |
|
<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t Invalid inputs were given to this function.</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t from_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
|
<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t to_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
|
<font face='Lucida Console'>)</font>; |
|
|
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>9</font><font color='#5555FF'>></font> accum, u, v; |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>1</font><font color='#5555FF'>></font> w; |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>9</font><font color='#5555FF'>></font> B; |
|
accum <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
|
B <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
|
<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> f <font color='#5555FF'>=</font> from_points[i]; |
|
f.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
|
dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> t <font color='#5555FF'>=</font> to_points[i]; |
|
t.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
|
|
|
<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>B,<font color='#979000'>0</font>,<font color='#979000'>0</font>,<font color='#979000'>1</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> t.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>f<font face='Lucida Console'>)</font>; |
|
<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>B,<font color='#979000'>1</font>,<font color='#979000'>0</font>,<font color='#979000'>1</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>f<font face='Lucida Console'>)</font>; |
|
|
|
<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>B,<font color='#979000'>0</font>,<font color='#979000'>3</font>,<font color='#979000'>1</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#5555FF'>-</font>t.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>f<font face='Lucida Console'>)</font>; |
|
<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>B,<font color='#979000'>1</font>,<font color='#979000'>6</font>,<font color='#979000'>1</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#5555FF'>-</font>t.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>f<font face='Lucida Console'>)</font>; |
|
|
|
accum <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>B<font face='Lucida Console'>)</font><font color='#5555FF'>*</font>B; |
|
<b>}</b> |
|
|
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<font color='#BB00BB'>svd2</font><font face='Lucida Console'>(</font><font color='#979000'>true</font>, <font color='#979000'>false</font>, accum, u, w, v<font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'><u>long</u></font> j <font color='#5555FF'>=</font> <font color='#BB00BB'>index_of_min</font><font face='Lucida Console'>(</font>w<font face='Lucida Console'>)</font>; |
|
|
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_projective</font><font face='Lucida Console'>(</font><font color='#BB00BB'>reshape</font><font face='Lucida Console'>(</font><font color='#BB00BB'>colm</font><font face='Lucida Console'>(</font>u,j<font face='Lucida Console'>)</font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>struct</font> <b><a name='obj'></a>obj</b> |
|
<b>{</b> |
|
<font color='#009900'>/*! |
|
WHAT THIS OBJECT REPRESENTS |
|
This is the objective function we really want to minimize when looking |
|
for a transformation matrix. That is, we would like the transformed |
|
points to be as close as possible to their "to" points. Here, |
|
closeness is measured using Euclidean distance. |
|
|
|
!*/</font> |
|
<b><a name='obj'></a>obj</b><font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points_, |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points_ |
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<font face='Lucida Console'>)</font> : |
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from_points<font face='Lucida Console'>(</font>from_points_<font face='Lucida Console'>)</font> , |
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to_points<font face='Lucida Console'>(</font>to_points_<font face='Lucida Console'>)</font> |
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<b>{</b><b>}</b> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points; |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points; |
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<font color='#0000FF'><u>double</u></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>1</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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point_transform_projective <font color='#BB00BB'>tran</font><font face='Lucida Console'>(</font><font color='#BB00BB'>reshape</font><font face='Lucida Console'>(</font>p,<font color='#979000'>3</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'><u>double</u></font> sum <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
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<b>{</b> |
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sum <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>length_squared</font><font face='Lucida Console'>(</font><font color='#BB00BB'>tran</font><font face='Lucida Console'>(</font>from_points[i]<font face='Lucida Console'>)</font> <font color='#5555FF'>-</font> to_points[i]<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>return</font> sum; |
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<b>}</b> |
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<b>}</b>; |
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<font color='#0000FF'>struct</font> <b><a name='obj_der'></a>obj_der</b> |
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<b>{</b> |
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<font color='#009900'>/*! |
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WHAT THIS OBJECT REPRESENTS |
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This is the derivative of obj. |
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!*/</font> |
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<b><a name='obj_der'></a>obj_der</b><font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points_, |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points_ |
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<font face='Lucida Console'>)</font> : |
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from_points<font face='Lucida Console'>(</font>from_points_<font face='Lucida Console'>)</font> , |
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to_points<font face='Lucida Console'>(</font>to_points_<font face='Lucida Console'>)</font> |
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<b>{</b><b>}</b> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points; |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points; |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>1</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>1</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> H <font color='#5555FF'>=</font> <font color='#BB00BB'>reshape</font><font face='Lucida Console'>(</font>p,<font color='#979000'>3</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font>; |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> grad; |
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grad <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
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<b>{</b> |
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dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> from, to; |
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from <font color='#5555FF'>=</font> from_points[i]; |
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from.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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to <font color='#5555FF'>=</font> to_points[i]; |
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to.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>1</font>; |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>1</font><font color='#5555FF'>></font> w <font color='#5555FF'>=</font> H<font color='#5555FF'>*</font>from; |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> scale <font color='#5555FF'>=</font> <font face='Lucida Console'>(</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>!</font><font color='#5555FF'>=</font> <font color='#979000'>0</font><font face='Lucida Console'>)</font> ? <font face='Lucida Console'>(</font><font color='#979000'>1.0</font><font color='#5555FF'>/</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>2</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font> : <font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font>; |
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w <font color='#5555FF'>*</font><font color='#5555FF'>=</font> scale; |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>1</font><font color='#5555FF'>></font> residual <font color='#5555FF'>=</font> <font face='Lucida Console'>(</font>w<font color='#5555FF'>-</font>to<font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#979000'>2</font><font color='#5555FF'>*</font>scale; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> from.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> from.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> from.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> from.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font face='Lucida Console'>(</font>from.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> from.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font face='Lucida Console'>(</font>from.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> from.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>grad</font><font face='Lucida Console'>(</font><font color='#979000'>2</font>,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font face='Lucida Console'>(</font> <font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>+</font> <font color='#BB00BB'>w</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font><font color='#BB00BB'>residual</font><font face='Lucida Console'>(</font><font color='#979000'>1</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>reshape_to_column_vector</font><font face='Lucida Console'>(</font>grad<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<b>}</b>; |
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<b>}</b> |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> point_transform_projective <b><a name='find_projective_transform'></a>find_projective_transform</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> from_points, |
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<font color='#0000FF'>const</font> std::vector<font color='#5555FF'><</font>dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <font color='#5555FF'>></font><font color='#5555FF'>&</font> to_points |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>using</font> <font color='#0000FF'>namespace</font> impl_proj; |
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<font color='#009900'>// make sure requires clause is not broken |
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</font> <font color='#BB00BB'>DLIB_ASSERT</font><font face='Lucida Console'>(</font>from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font><font color='#5555FF'>=</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>&</font><font color='#5555FF'>&</font> |
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from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>></font><font color='#5555FF'>=</font> <font color='#979000'>4</font>, |
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"<font color='#CC0000'>\t point_transform_projective find_projective_transform(from_points, to_points)</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t Invalid inputs were given to this function.</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t from_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t to_points.size(): </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> to_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> |
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<font face='Lucida Console'>)</font>; |
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<font color='#009900'>// Find a candidate projective transformation. Also, find the best affine |
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</font> <font color='#009900'>// transform and then compare it with the projective transform estimated using the |
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</font> <font color='#009900'>// direct SVD method. Use whichever one works better as the starting point for a |
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</font> <font color='#009900'>// BFGS based optimizer. If the best solution has large mean squared error and is |
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</font> <font color='#009900'>// also close to affine then find_projective_transform_basic() might give a very |
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</font> <font color='#009900'>// bad initial guess. So also checking for a good affine transformation can |
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</font> <font color='#009900'>// produce a much better final result in many cases. |
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</font> point_transform_projective tran1 <font color='#5555FF'>=</font> <font color='#BB00BB'>find_projective_transform_basic</font><font face='Lucida Console'>(</font>from_points, to_points<font face='Lucida Console'>)</font>; |
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point_transform_affine tran2 <font color='#5555FF'>=</font> <font color='#BB00BB'>find_affine_transform</font><font face='Lucida Console'>(</font>from_points, to_points<font face='Lucida Console'>)</font>; |
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<font color='#009900'>// check which is best |
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</font> <font color='#0000FF'><u>double</u></font> error1 <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#0000FF'><u>double</u></font> error2 <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<font color='#0000FF'>for</font> <font face='Lucida Console'>(</font><font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> i <font color='#5555FF'>=</font> <font color='#979000'>0</font>; i <font color='#5555FF'><</font> from_points.<font color='#BB00BB'>size</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; <font color='#5555FF'>+</font><font color='#5555FF'>+</font>i<font face='Lucida Console'>)</font> |
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<b>{</b> |
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error1 <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>length_squared</font><font face='Lucida Console'>(</font><font color='#BB00BB'>tran1</font><font face='Lucida Console'>(</font>from_points[i]<font face='Lucida Console'>)</font><font color='#5555FF'>-</font>to_points[i]<font face='Lucida Console'>)</font>; |
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error2 <font color='#5555FF'>+</font><font color='#5555FF'>=</font> <font color='#BB00BB'>length_squared</font><font face='Lucida Console'>(</font><font color='#BB00BB'>tran2</font><font face='Lucida Console'>(</font>from_points[i]<font face='Lucida Console'>)</font><font color='#5555FF'>-</font>to_points[i]<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>9</font>,<font color='#979000'>1</font><font color='#5555FF'>></font> params; |
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<font color='#009900'>// Pick the minimum error solution among the two so far. |
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</font> <font color='#0000FF'>if</font> <font face='Lucida Console'>(</font>error1 <font color='#5555FF'><</font> error2<font face='Lucida Console'>)</font> |
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params <font color='#5555FF'>=</font> <font color='#BB00BB'>reshape_to_column_vector</font><font face='Lucida Console'>(</font>tran1.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>else</font> |
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params <font color='#5555FF'>=</font> <font color='#BB00BB'>reshape_to_column_vector</font><font face='Lucida Console'>(</font><font color='#BB00BB'>point_transform_projective</font><font face='Lucida Console'>(</font>tran2<font face='Lucida Console'>)</font>.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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|
|
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<font color='#009900'>// Now refine the transformation matrix so that we can be sure we have |
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</font> <font color='#009900'>// at least a local minimizer. |
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</font> obj <font color='#BB00BB'>o</font><font face='Lucida Console'>(</font>from_points, to_points<font face='Lucida Console'>)</font>; |
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obj_der <font color='#BB00BB'>der</font><font face='Lucida Console'>(</font>from_points, to_points<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>find_min</font><font face='Lucida Console'>(</font><font color='#BB00BB'>bfgs_search_strategy</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>, |
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<font color='#BB00BB'>objective_delta_stop_strategy</font><font face='Lucida Console'>(</font><font color='#979000'>1e</font><font color='#5555FF'>-</font><font color='#979000'>6</font>,<font color='#979000'>100</font><font face='Lucida Console'>)</font>, |
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o, |
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der, |
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params, |
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<font color='#979000'>0</font><font face='Lucida Console'>)</font>; |
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|
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<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_projective</font><font face='Lucida Console'>(</font><font color='#BB00BB'>reshape</font><font face='Lucida Console'>(</font>params,<font color='#979000'>3</font>,<font color='#979000'>3</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>template</font> <font color='#5555FF'><</font><font color='#0000FF'>typename</font> T<font color='#5555FF'>></font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='rotate_point'></a>rotate_point</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> center, |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font>T,<font color='#979000'>2</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p, |
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<font color='#0000FF'><u>double</u></font> angle |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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point_rotator <font color='#BB00BB'>rot</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>rot</font><font face='Lucida Console'>(</font>p<font color='#5555FF'>-</font>center<font face='Lucida Console'>)</font><font color='#5555FF'>+</font>center; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>inline</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> <b><a name='rotation_matrix'></a>rotation_matrix</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'><u>double</u></font> angle |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> ca <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> sa <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
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|
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>2</font>,<font color='#979000'>2</font><font color='#5555FF'>></font> m; |
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m <font color='#5555FF'>=</font> ca, <font color='#5555FF'>-</font>sa, |
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sa, ca; |
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<font color='#0000FF'>return</font> m; |
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<b>}</b> |
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|
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font><font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font><font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='point_transform_affine3d'></a>point_transform_affine3d</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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|
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<b><a name='point_transform_affine3d'></a>point_transform_affine3d</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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m <font color='#5555FF'>=</font> identity_matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>3</font><font face='Lucida Console'>)</font>; |
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b.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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b.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
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<b>}</b> |
|
|
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<b><a name='point_transform_affine3d'></a>point_transform_affine3d</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> m_, |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> b_ |
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<font face='Lucida Console'>)</font> :m<font face='Lucida Console'>(</font>m_<font face='Lucida Console'>)</font>, b<font face='Lucida Console'>(</font>b_<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<b>}</b> |
|
|
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'>return</font> m<font color='#5555FF'>*</font>p <font color='#5555FF'>+</font> b; |
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<b>}</b> |
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|
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<font color='#0000FF'>const</font> matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> <b><a name='get_m'></a>get_m</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> m; <b>}</b> |
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|
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<font color='#0000FF'>const</font> dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> <b><a name='get_b'></a>get_b</b><font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> b; <b>}</b> |
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|
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> point_transform_affine3d<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.m, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.b, out<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>point_transform_affine3d<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.m, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.b, in<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#0000FF'>private</font>: |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
|
dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> b; |
|
<b>}</b>; |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='operator'></a>operator</b><font color='#5555FF'>*</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> point_transform_affine3d<font color='#5555FF'>&</font> lhs, |
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<font color='#0000FF'>const</font> point_transform_affine<font color='#5555FF'>&</font> rhs |
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<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
|
m <font color='#5555FF'>=</font> <font color='#979000'>0</font>; |
|
<font color='#BB00BB'>set_subm</font><font face='Lucida Console'>(</font>m, <font color='#BB00BB'>get_rect</font><font face='Lucida Console'>(</font>rhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> rhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> b <font color='#5555FF'>=</font> rhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
|
|
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>m, lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>b<font color='#5555FF'>+</font>lhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='operator'></a>operator</b><font color='#5555FF'>*</font> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'>const</font> point_transform_affine3d<font color='#5555FF'>&</font> lhs, |
|
<font color='#0000FF'>const</font> point_transform_affine3d<font color='#5555FF'>&</font> rhs |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>rhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>, lhs.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>rhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>+</font>lhs.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='inv'></a>inv</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'>const</font> point_transform_affine3d<font color='#5555FF'>&</font> trans |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> im <font color='#5555FF'>=</font> <font color='#BB00BB'>inv</font><font face='Lucida Console'>(</font>trans.<font color='#BB00BB'>get_m</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>im, <font color='#5555FF'>-</font>im<font color='#5555FF'>*</font>trans.<font color='#BB00BB'>get_b</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='rotate_around_x'></a>rotate_around_x</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'><u>double</u></font> angle |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> ca <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> sa <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
|
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
|
m <font color='#5555FF'>=</font> <font color='#979000'>1</font>, <font color='#979000'>0</font>, <font color='#979000'>0</font>, |
|
<font color='#979000'>0</font>, ca, <font color='#5555FF'>-</font>sa, |
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<font color='#979000'>0</font>, sa, ca; |
|
|
|
vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> b; |
|
|
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>m,b<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='rotate_around_y'></a>rotate_around_y</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'><u>double</u></font> angle |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> ca <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> sa <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
|
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
|
m <font color='#5555FF'>=</font> ca, <font color='#979000'>0</font>, sa, |
|
<font color='#979000'>0</font>, <font color='#979000'>1</font>, <font color='#979000'>0</font>, |
|
<font color='#5555FF'>-</font>sa, <font color='#979000'>0</font>, ca; |
|
|
|
vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> b; |
|
|
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>m,b<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='rotate_around_z'></a>rotate_around_z</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'><u>double</u></font> angle |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> ca <font color='#5555FF'>=</font> std::<font color='#BB00BB'>cos</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> sa <font color='#5555FF'>=</font> std::<font color='#BB00BB'>sin</font><font face='Lucida Console'>(</font>angle<font face='Lucida Console'>)</font>; |
|
|
|
matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> m; |
|
m <font color='#5555FF'>=</font> ca, <font color='#5555FF'>-</font>sa, <font color='#979000'>0</font>, |
|
sa, ca, <font color='#979000'>0</font>, |
|
<font color='#979000'>0</font>, <font color='#979000'>0</font>, <font color='#979000'>1</font>; |
|
|
|
vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font> b; |
|
|
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>m,b<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#009900'>// ---------------------------------------------------------------------------------------- |
|
</font> |
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='translate_point'></a>translate_point</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font><font color='#5555FF'>></font><font color='#5555FF'>&</font> delta |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
|
<font color='#0000FF'>return</font> <font color='#BB00BB'>point_transform_affine3d</font><font face='Lucida Console'>(</font>identity_matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>3</font><font face='Lucida Console'>)</font>,delta<font face='Lucida Console'>)</font>; |
|
<b>}</b> |
|
|
|
<font color='#0000FF'>inline</font> point_transform_affine3d <b><a name='translate_point'></a>translate_point</b> <font face='Lucida Console'>(</font> |
|
<font color='#0000FF'><u>double</u></font> x, |
|
<font color='#0000FF'><u>double</u></font> y, |
|
<font color='#0000FF'><u>double</u></font> z |
|
<font face='Lucida Console'>)</font> |
|
<b>{</b> |
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<font color='#0000FF'>return</font> <font color='#BB00BB'>translate_point</font><font face='Lucida Console'>(</font>vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font>x,y,z<font face='Lucida Console'>)</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<font color='#0000FF'>class</font> <b><a name='camera_transform'></a>camera_transform</b> |
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<b>{</b> |
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<font color='#0000FF'>public</font>: |
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<b><a name='camera_transform'></a>camera_transform</b> <font face='Lucida Console'>(</font> |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#5555FF'>*</font><font color='#0000FF'>this</font> <font color='#5555FF'>=</font> <font color='#BB00BB'>camera_transform</font><font face='Lucida Console'>(</font>vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>1</font>,<font color='#979000'>1</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font>, |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>0</font>,<font color='#979000'>0</font><font face='Lucida Console'>)</font>, |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font face='Lucida Console'>(</font><font color='#979000'>0</font>,<font color='#979000'>0</font>,<font color='#979000'>1</font><font face='Lucida Console'>)</font>, |
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<font color='#979000'>90</font>, |
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<font color='#979000'>1</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<b><a name='camera_transform'></a>camera_transform</b> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font color='#5555FF'>&</font> camera_pos_, |
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<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font color='#5555FF'>&</font> camera_looking_at_, |
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<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font color='#5555FF'>&</font> camera_up_direction_, |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>double</u></font> camera_field_of_view_, |
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<font color='#0000FF'>const</font> <font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> num_pixels_ |
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<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#009900'>// make sure requires clause is not broken |
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</font> <font color='#BB00BB'>DLIB_CASSERT</font><font face='Lucida Console'>(</font><font color='#979000'>0</font> <font color='#5555FF'><</font> camera_field_of_view_ <font color='#5555FF'>&</font><font color='#5555FF'>&</font> camera_field_of_view_ <font color='#5555FF'><</font> <font color='#979000'>180</font>, |
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"<font color='#CC0000'>\t camera_transform::camera_transform()</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t Invalid inputs were given to this function.</font>" |
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<font color='#5555FF'><</font><font color='#5555FF'><</font> "<font color='#CC0000'>\n\t camera_field_of_view_: </font>" <font color='#5555FF'><</font><font color='#5555FF'><</font> camera_field_of_view_ |
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<font face='Lucida Console'>)</font>; |
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camera_pos <font color='#5555FF'>=</font> camera_pos_; |
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camera_looking_at <font color='#5555FF'>=</font> camera_looking_at_; |
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camera_up_direction <font color='#5555FF'>=</font> camera_up_direction_; |
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camera_field_of_view <font color='#5555FF'>=</font> camera_field_of_view_; |
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num_pixels <font color='#5555FF'>=</font> num_pixels_; |
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dlib::vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> X,Y,Z; |
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Z <font color='#5555FF'>=</font> <font face='Lucida Console'>(</font>camera_looking_at <font color='#5555FF'>-</font> camera_pos<font face='Lucida Console'>)</font>.<font color='#BB00BB'>normalize</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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Y <font color='#5555FF'>=</font> camera_up_direction <font color='#5555FF'>-</font> <font color='#BB00BB'>dot</font><font face='Lucida Console'>(</font>camera_up_direction,Z<font face='Lucida Console'>)</font><font color='#5555FF'>*</font>Z; |
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Y <font color='#5555FF'>=</font> Y.<font color='#BB00BB'>normalize</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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X <font color='#5555FF'>=</font> Z.<font color='#BB00BB'>cross</font><font face='Lucida Console'>(</font>Y<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>set_rowm</font><font face='Lucida Console'>(</font>proj,<font color='#979000'>0</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>X<font face='Lucida Console'>)</font>; |
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<font color='#009900'>// Minus because images have y axis going down but we want the 3d projection to appear using a normal coordinate system with y going up. |
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</font> <font color='#BB00BB'>set_rowm</font><font face='Lucida Console'>(</font>proj,<font color='#979000'>1</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#5555FF'>-</font><font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>Y<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>set_rowm</font><font face='Lucida Console'>(</font>proj,<font color='#979000'>2</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> <font color='#BB00BB'>trans</font><font face='Lucida Console'>(</font>Z<font face='Lucida Console'>)</font>; |
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width <font color='#5555FF'>=</font> num_pixels<font color='#5555FF'>/</font><font color='#979000'>2.0</font>; |
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dist_scale <font color='#5555FF'>=</font> width<font color='#5555FF'>/</font>std::<font color='#BB00BB'>tan</font><font face='Lucida Console'>(</font>pi<font color='#5555FF'>/</font><font color='#979000'>180</font><font color='#5555FF'>*</font>camera_field_of_view<font color='#5555FF'>/</font><font color='#979000'>2</font><font face='Lucida Console'>)</font>; |
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<b>}</b> |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> <b><a name='get_camera_pos'></a>get_camera_pos</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> camera_pos; <b>}</b> |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> <b><a name='get_camera_looking_at'></a>get_camera_looking_at</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> camera_looking_at; <b>}</b> |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> <b><a name='get_camera_up_direction'></a>get_camera_up_direction</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> camera_up_direction; <b>}</b> |
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<font color='#0000FF'><u>double</u></font> <b><a name='get_camera_field_of_view'></a>get_camera_field_of_view</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> camera_field_of_view; <b>}</b> |
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<font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> <b><a name='get_num_pixels'></a>get_num_pixels</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> <b>{</b> <font color='#0000FF'>return</font> num_pixels; <b>}</b> |
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<font color='#0000FF'>inline</font> dpoint <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p, |
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<font color='#0000FF'><u>double</u></font><font color='#5555FF'>&</font> scale, |
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<font color='#0000FF'><u>double</u></font><font color='#5555FF'>&</font> distance |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> temp <font color='#5555FF'>=</font> p<font color='#5555FF'>-</font>camera_pos; |
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temp <font color='#5555FF'>=</font> proj<font color='#5555FF'>*</font>temp; |
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distance <font color='#5555FF'>=</font> temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font>; |
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scale <font color='#5555FF'>=</font> dist_scale<font color='#5555FF'>/</font><font face='Lucida Console'>(</font>temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>></font><font color='#979000'>0</font> ? temp.<font color='#BB00BB'>z</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> : <font color='#979000'>1e</font><font color='#5555FF'>-</font><font color='#979000'>9</font><font face='Lucida Console'>)</font>; |
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temp.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> temp.<font color='#BB00BB'>x</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>scale <font color='#5555FF'>+</font> width; |
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temp.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font color='#5555FF'>=</font> temp.<font color='#BB00BB'>y</font><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font><font color='#5555FF'>*</font>scale <font color='#5555FF'>+</font> width; |
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<font color='#0000FF'>return</font> temp; |
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<b>}</b> |
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dpoint <b><a name='operator'></a>operator</b><font face='Lucida Console'>(</font><font face='Lucida Console'>)</font> <font face='Lucida Console'>(</font> |
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<font color='#0000FF'>const</font> vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font><font color='#5555FF'>&</font> p |
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<font face='Lucida Console'>)</font> <font color='#0000FF'>const</font> |
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<b>{</b> |
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<font color='#0000FF'><u>double</u></font> scale, distance; |
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<font color='#0000FF'>return</font> <font face='Lucida Console'>(</font><font color='#5555FF'>*</font><font color='#0000FF'>this</font><font face='Lucida Console'>)</font><font face='Lucida Console'>(</font>p,scale,distance<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='serialize'></a>serialize</b> <font face='Lucida Console'>(</font><font color='#0000FF'>const</font> camera_transform<font color='#5555FF'>&</font> item, std::ostream<font color='#5555FF'>&</font> out<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.camera_pos, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.camera_looking_at, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.camera_up_direction, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.camera_field_of_view, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.num_pixels, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.proj, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.dist_scale, out<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>serialize</font><font face='Lucida Console'>(</font>item.width, out<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>inline</font> <font color='#0000FF'>friend</font> <font color='#0000FF'><u>void</u></font> <b><a name='deserialize'></a>deserialize</b> <font face='Lucida Console'>(</font>camera_transform<font color='#5555FF'>&</font> item, std::istream<font color='#5555FF'>&</font> in<font face='Lucida Console'>)</font> |
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<b>{</b> |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.camera_pos, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.camera_looking_at, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.camera_up_direction, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.camera_field_of_view, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.num_pixels, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.proj, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.dist_scale, in<font face='Lucida Console'>)</font>; |
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<font color='#BB00BB'>deserialize</font><font face='Lucida Console'>(</font>item.width, in<font face='Lucida Console'>)</font>; |
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<b>}</b> |
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<font color='#0000FF'>private</font>: |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> camera_pos; |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> camera_looking_at; |
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vector<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font><font color='#5555FF'>></font> camera_up_direction; |
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<font color='#0000FF'><u>double</u></font> camera_field_of_view; |
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<font color='#0000FF'><u>unsigned</u></font> <font color='#0000FF'><u>long</u></font> num_pixels; |
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matrix<font color='#5555FF'><</font><font color='#0000FF'><u>double</u></font>,<font color='#979000'>3</font>,<font color='#979000'>3</font><font color='#5555FF'>></font> proj; |
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<font color='#0000FF'><u>double</u></font> dist_scale; |
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<font color='#0000FF'><u>double</u></font> width; |
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<b>}</b>; |
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<font color='#009900'>// ---------------------------------------------------------------------------------------- |
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</font> |
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<b>}</b> |
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<font color='#0000FF'>#endif</font> <font color='#009900'>// DLIB_POINT_TrANSFORMS_H_ |
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</font> |
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</pre></body></html> |
