/** File: transformations.h Author: Peter Barnum Created: 2014-02-18 Various utilities for transforming coordinates between different reference frames Copyright Anki, Inc. 2013 For internal use only. No part of this code may be used without a signed non-disclosure agreement with Anki, inc. **/ #ifndef _ANKICORETECHEMBEDDED_VISION_TRANSFORMATIONS_H_ #define _ANKICORETECHEMBEDDED_VISION_TRANSFORMATIONS_H_ #include "coretech/common/robot/config.h" #include "coretech/common/robot/array2d.h" #include "coretech/vision/robot/histogram.h" namespace Anki { namespace Embedded { class SerializedBuffer; namespace Transformations { // The type of transformation. // // The first byte is the degrees of freedom of the transformation, so if it bit-shifted right // by 8, it is equal to the number of parameters enum TransformType { TRANSFORM_UNKNOWN = 0x0000, TRANSFORM_TRANSLATION = 0x0200, TRANSFORM_AFFINE = 0x0600, TRANSFORM_PROJECTIVE = 0x0800 }; // Simple helper function to compute the homography from an input quad. The input quad point should be ordered in the non-rotated, corner-opposite format Result ComputeHomographyFromQuad(const Quadrilateral &quad, Array &homography, bool &numericalFailure, MemoryStack scratch); Result ComputeHomographyFromQuad(const Quadrilateral &quad, Array &homography, bool &numericalFailure, MemoryStack scratch); // homography transforms the corners from originalQuad into those in transformedQuad Result ComputeHomographyFromQuads(const Quadrilateral &originalQuad, const Quadrilateral &transformedQuad, Array &homography, bool &numericalFailure, MemoryStack scratch); // A PlanarTransformation object can do the following: // 1. Hold the current planar transformation, and optionally the initial extents of the quadrilateral // 2. Update the planar transformation with an update delta // 3. Transform a set of points, quadrilateral, or image to the new coordinate frame // // NOTE: All coordinates for images should be stored in the standard resolution // BASE_IMAGE_WIDTH X BASE_IMAGE_HEIGHT (currently, this is QVGA) class PlanarTransformation_f32 { public: // Initialize with input corners and homography, or if not input, set to zero or identity // If the input corners and homography are input, they are copied to object-local copies PlanarTransformation_f32(const TransformType transformType, const Quadrilateral &initialCorners, const Array &initialHomography, MemoryStack &memory); PlanarTransformation_f32(const TransformType transformType, const Quadrilateral &initialCorners, MemoryStack &memory); PlanarTransformation_f32(const TransformType transformType, MemoryStack &memory); // Same as the above, but explicitly sets the center of the transformation PlanarTransformation_f32(const TransformType transformType, const Quadrilateral &initialCorners, const Array &initialHomography, const Point ¢erOffset, MemoryStack &memory); PlanarTransformation_f32(const TransformType transformType, const Quadrilateral &initialCorners, const Point ¢erOffset, MemoryStack &memory); PlanarTransformation_f32(const TransformType transformType, const Point ¢erOffset, MemoryStack &memory); // Initialize as invalid PlanarTransformation_f32(); // Using the current transformation, warp the In points to the Out points. // xIn, yIn, xOut, and yOut must be 1xN. // xOut and yOut must be allocated before calling // Requires at least N*sizeof(f32) bytes of scratch Result TransformPoints( const Array &xIn, const Array &yIn, const f32 scale, const bool inputPointsAreZeroCentered, const bool outputPointsAreZeroCentered, Array &xOut, Array &yOut) const; // Update the transformation. The format of the update should be as follows: // TRANSFORM_TRANSLATION: [-dx, -dy] // TRANSFORM_AFFINE: [h00, h01, h02, h10, h11, h12] // TRANSFORM_PROJECTIVE: [h00, h01, h02, h10, h11, h12, h20, h21] Result Update(const Array &update, const f32 scale, MemoryStack scratch, TransformType updateType=TRANSFORM_UNKNOWN); Result Print(const char * const variableName = "Transformation") const; // Transform the input Quadrilateral, using this object's transformation Quadrilateral Transform( const Quadrilateral &in, MemoryStack scratch, const f32 scale=1.0f) const; // Transform an array (like an image) Result Transform( const Array &in, Array &out, MemoryStack scratch, const f32 scale=1.0f) const; // In and out can point to the same location in memory Result Transform( const FixedLengthList > &in, FixedLengthList > &out, MemoryStack scratch, const f32 scale=1.0f ) const; Result VerifyTransformation_Projective_NearestNeighbor( const Array &templateImage, const IntegerCounts &templateIntegerCounts, const Rectangle &templateRegionOfInterest, const Array &nextImage, const IntegerCounts &nextImageHistogram, const f32 templateRegionHeight, const f32 templateRegionWidth, const s32 templateCoordinateIncrement, const u8 maxPixelDifference, s32 &meanAbsoluteDifference, s32 &numInBounds, s32 &numSimilarPixels, MemoryStack scratch) const; Result VerifyTransformation_Projective_LinearInterpolate( const Array &templateImage, const Rectangle &templateRegionOfInterest, const Array &nextImage, const f32 templateRegionHeight, const f32 templateRegionWidth, const s32 templateCoordinateIncrement, const u8 maxPixelDifference, s32 &meanAbsoluteDifference, s32 &numInBounds, s32 &numSimilarPixels, MemoryStack scratch) const; bool IsValid() const; // Set this object's transformType, centerOffset, initialCorners, and homography Result Set(const PlanarTransformation_f32 &newTransformation); Result Serialize(const char *objectName, SerializedBuffer &buffer) const; Result SerializeRaw(const char *objectName, void ** buffer, s32 &bufferLength) const; // Updates the buffer pointer and length before returning Result Deserialize(char *objectName, void** buffer, s32 &bufferLength, MemoryStack &memory); // Updates the buffer pointer and length before returning Result set_transformType(const TransformType transformType); TransformType get_transformType() const; Result set_homography(const Array& in); const Array& get_homography() const; Result set_initialCorners(const Quadrilateral &initialCorners); const Quadrilateral& get_initialCorners() const; Result set_initialPointsAreZeroCentered(const bool areTheyCentered); bool get_initialPointsAreZeroCentered() const; Result set_centerOffset(const Point ¢erOffset); Point get_centerOffset(const f32 scale) const; // Transform this object's initialCorners, based on its current homography Quadrilateral get_transformedCorners(MemoryStack scratch) const; // Orientation is [0,-pi] for counter-clockwise rotation, and [0,pi] for clockwise rotation f32 get_transformedOrientation(MemoryStack scratch) const; static s32 get_serializationSize(); protected: bool isValid; TransformType transformType; // All types of plane transformations are stored in a 3x3 homography matrix, though some values may be zero (or ones for diagonals) Array homography; // The initial corners of the valid region Quadrilateral initialCorners; // usually false for image-to-image transformations, but for situations // like the planar6dof tracker, where the transformation is from a // canonical 3D plane to the image, the centerOffset below may // contain the image calibration center, and the initial (model) points // may not need to be re-centered before applying the transformation. // In that case, we use set_initialPointsAreZeroCentered() to set // this member variable to true. bool initialPointsAreZeroCentered; // The offset applied to an image, so that origin of the coordinate system is at the center // of the quadrilateral Point centerOffset; static Result TransformPointsStatic( const Array &xIn, const Array &yIn, const f32 scale, const Point& centerOffset, const TransformType transformType, const Array &homography, const bool inputPointsAreZeroCentered, const bool outputPointsAreZeroCentered, Array &xOut, Array &yOut); Result Init(const TransformType transformType, const Quadrilateral &initialCorners, const Array &initialHomography, const Point ¢erOffset, MemoryStack &memory); }; } // namespace Transformations } // namespace Embedded } // namespace Anki #endif //_ANKICORETECHEMBEDDED_VISION_TRANSFORMATIONS_H_