int main(int argc, const char *argv[])
{
// This lets us load various image formats.
fl_register_images();
try
{
// Branch to processing code based on first argument
if (argc > 1 && strcmp(argv[1], "sphrWarp") == 0)
return SphrWarp(argc, argv);
else if (argc > 1 && strcmp(argv[1], "alignPair") == 0)
return AlignPair(argc, argv);
else if (argc > 1 && strcmp(argv[1], "alignPairHomography") == 0)
return AlignPair(argc, argv);
else if (argc > 1 && strcmp(argv[1], "blendPairs") == 0)
return BlendPairs(argc, argv);
else if (argc > 1 && strcmp(argv[1], "script") == 0)
return Script(argc, argv);
else {
printf("usage: \n");
printf(" %s sphrWarp input.tga output.tga f [k1 k2]\n", argv[0]);
printf(" %s alignPair input1.f input2.f matchfile nRANSAC RANSACthresh [sift]\n", argv[0]);
printf(" %s alignPairHomography input1.f input2.f matchfile nRANSAC RANSACthresh [sift]\n", argv[0]);
printf(" %s blendPairs pairlist.txt outimg.tga blendWidth\n", argv[0]);
printf(" %s script script.cmd\n", argv[0]);
}
}
catch (CError &err) {
printf(err.message);
return -1;
}
return 0;
}
/* ************************************************************************* */
Rot3 Rot3::AlignTwoPairs(const Unit3& a_p, const Unit3& b_p, //
const Unit3& a_q, const Unit3& b_q) {
// there are three frames in play:
// a: the first frame in which p and q are measured
// b: the second frame in which p and q are measured
// i: intermediate, after aligning first pair
// First, find rotation around that aligns a_p and b_p
Rot3 i_R_b = AlignPair(a_p.cross(b_p), a_p, b_p);
// Rotate points in frame b to the intermediate frame,
// in which we expect the point p to be aligned now
Unit3 i_q = i_R_b * b_q;
assert(assert_equal(a_p, i_R_b * b_p, 1e-6));
// Now align second pair: we need to align i_q to a_q
Rot3 a_R_i = AlignPair(a_p, a_q, i_q);
assert(assert_equal(a_p, a_R_i * a_p, 1e-6));
assert(assert_equal(a_q, a_R_i * i_q, 1e-6));
// The desired rotation is the product of both
Rot3 a_R_b = a_R_i * i_R_b;
return a_R_b;
}