115 lines
4.3 KiB
C++
115 lines
4.3 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// Intel License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000, Intel Corporation, all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
//
|
|
// * The name of Intel Corporation may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
|
|
#include "precomp.hpp"
|
|
|
|
/****************************************************************************************\
|
|
|
|
calculate image homography
|
|
|
|
\****************************************************************************************/
|
|
|
|
CV_IMPL void
|
|
cvCalcImageHomography( float* line, CvPoint3D32f* _center,
|
|
float* _intrinsic, float* _homography )
|
|
{
|
|
double norm_xy, norm_xz, xy_sina, xy_cosa, xz_sina, xz_cosa, nx1, plane_dist;
|
|
float _ry[3], _rz[3], _r_trans[9];
|
|
CvMat rx = cvMat( 1, 3, CV_32F, line );
|
|
CvMat ry = cvMat( 1, 3, CV_32F, _ry );
|
|
CvMat rz = cvMat( 1, 3, CV_32F, _rz );
|
|
CvMat r_trans = cvMat( 3, 3, CV_32F, _r_trans );
|
|
CvMat center = cvMat( 3, 1, CV_32F, _center );
|
|
|
|
float _sub[9];
|
|
CvMat sub = cvMat( 3, 3, CV_32F, _sub );
|
|
float _t_trans[3];
|
|
CvMat t_trans = cvMat( 3, 1, CV_32F, _t_trans );
|
|
|
|
CvMat intrinsic = cvMat( 3, 3, CV_32F, _intrinsic );
|
|
CvMat homography = cvMat( 3, 3, CV_32F, _homography );
|
|
|
|
if( !line || !_center || !_intrinsic || !_homography )
|
|
CV_Error( CV_StsNullPtr, "" );
|
|
|
|
norm_xy = cvSqrt( line[0] * line[0] + line[1] * line[1] );
|
|
xy_cosa = line[0] / norm_xy;
|
|
xy_sina = line[1] / norm_xy;
|
|
|
|
norm_xz = cvSqrt( line[0] * line[0] + line[2] * line[2] );
|
|
xz_cosa = line[0] / norm_xz;
|
|
xz_sina = line[2] / norm_xz;
|
|
|
|
nx1 = -xz_sina;
|
|
|
|
_rz[0] = (float)(xy_cosa * nx1);
|
|
_rz[1] = (float)(xy_sina * nx1);
|
|
_rz[2] = (float)xz_cosa;
|
|
cvScale( &rz, &rz, 1./cvNorm(&rz,0,CV_L2) );
|
|
|
|
/* new axe y */
|
|
cvCrossProduct( &rz, &rx, &ry );
|
|
cvScale( &ry, &ry, 1./cvNorm( &ry, 0, CV_L2 ) );
|
|
|
|
/* transpone rotation matrix */
|
|
memcpy( &_r_trans[0], line, 3*sizeof(float));
|
|
memcpy( &_r_trans[3], _ry, 3*sizeof(float));
|
|
memcpy( &_r_trans[6], _rz, 3*sizeof(float));
|
|
|
|
/* calculate center distanse from arm plane */
|
|
plane_dist = cvDotProduct( ¢er, &rz );
|
|
|
|
/* calculate (I - r_trans)*center */
|
|
cvSetIdentity( &sub );
|
|
cvSub( &sub, &r_trans, &sub );
|
|
cvMatMul( &sub, ¢er, &t_trans );
|
|
|
|
cvMatMul( &t_trans, &rz, &sub );
|
|
cvScaleAdd( &sub, cvRealScalar(1./plane_dist), &r_trans, &sub ); /* ? */
|
|
|
|
cvMatMul( &intrinsic, &sub, &r_trans );
|
|
cvInvert( &intrinsic, &sub, CV_SVD );
|
|
cvMatMul( &r_trans, &sub, &homography );
|
|
}
|
|
|
|
/* End of file. */
|
|
|