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Removed using of homogeneous coordinates in cvProjectPoints2 (ticket #845)

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This commit is contained in:
Ilya Lysenkov
2011-06-01 13:10:14 +00:00
parent 25213d88a8
commit 4875ffc953
1 changed files with 24 additions and 9 deletions
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33
modules/calib3d/src/calibration.cpp
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@@ -789,28 +789,42 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
/*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) ) /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" ); CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
count = MAX(objectPoints->rows, objectPoints->cols); int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
if(total % 3 != 0)
{
//we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
}
count = total / 3;
if( CV_IS_CONT_MAT(objectPoints->type) && CV_MAT_DEPTH(objectPoints->type) == CV_64F && if( CV_IS_CONT_MAT(objectPoints->type) &&
(CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) || ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
(objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3))) (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3)))
{ {
matM = cvCloneMat(objectPoints); matM = cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) );
cvConvert(objectPoints, matM);
} }
else else
{ {
matM = cvCreateMat( 1, count, CV_64FC3 ); // matM = cvCreateMat( 1, count, CV_64FC3 );
cvConvertPointsHomogeneous( objectPoints, matM ); // cvConvertPointsHomogeneous( objectPoints, matM );
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
} }
if( CV_IS_CONT_MAT(imagePoints->type) && CV_MAT_DEPTH(imagePoints->type) == CV_64F && if( CV_IS_CONT_MAT(imagePoints->type) &&
(CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) || ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
(imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2))) (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2)))
{ {
_m = cvCloneMat(imagePoints); _m = cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) );
cvConvert(imagePoints, _m);
} }
else else
_m = cvCreateMat( 1, count, CV_64FC2 ); {
// _m = cvCreateMat( 1, count, CV_64FC2 );
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
}
M = (CvPoint3D64f*)matM->data.db; M = (CvPoint3D64f*)matM->data.db;
m = (CvPoint2D64f*)_m->data.db; m = (CvPoint2D64f*)_m->data.db;
@@ -1108,7 +1122,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
} }
if( _m != imagePoints ) if( _m != imagePoints )
cvConvertPointsHomogeneous( _m, imagePoints ); cvConvert( _m, imagePoints );
if( _dpdr != dpdr ) if( _dpdr != dpdr )
cvConvert( _dpdr, dpdr ); cvConvert( _dpdr, dpdr );