1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 42 #include "_cv.h" 43 44 /****************************************************************************************\ 45 46 calculate image homography 47 48 \****************************************************************************************/ 49 50 CV_IMPL void 51 cvCalcImageHomography( float* line, CvPoint3D32f* _center, 52 float* _intrinsic, float* _homography ) 53 { 54 CV_FUNCNAME( "cvCalcImageHomography" ); 55 56 __BEGIN__; 57 58 double norm_xy, norm_xz, xy_sina, xy_cosa, xz_sina, xz_cosa, nx1, plane_dist; 59 float _ry[3], _rz[3], _r_trans[9]; 60 CvMat rx = cvMat( 1, 3, CV_32F, line ); 61 CvMat ry = cvMat( 1, 3, CV_32F, _ry ); 62 CvMat rz = cvMat( 1, 3, CV_32F, _rz ); 63 CvMat r_trans = cvMat( 3, 3, CV_32F, _r_trans ); 64 CvMat center = cvMat( 3, 1, CV_32F, _center ); 65 66 float _sub[9]; 67 CvMat sub = cvMat( 3, 3, CV_32F, _sub ); 68 float _t_trans[3]; 69 CvMat t_trans = cvMat( 3, 1, CV_32F, _t_trans ); 70 71 CvMat intrinsic = cvMat( 3, 3, CV_32F, _intrinsic ); 72 CvMat homography = cvMat( 3, 3, CV_32F, _homography ); 73 74 if( !line || !_center || !_intrinsic || !_homography ) 75 CV_ERROR( CV_StsNullPtr, "" ); 76 77 norm_xy = cvSqrt( line[0] * line[0] + line[1] * line[1] ); 78 xy_cosa = line[0] / norm_xy; 79 xy_sina = line[1] / norm_xy; 80 81 norm_xz = cvSqrt( line[0] * line[0] + line[2] * line[2] ); 82 xz_cosa = line[0] / norm_xz; 83 xz_sina = line[2] / norm_xz; 84 85 nx1 = -xz_sina; 86 87 _rz[0] = (float)(xy_cosa * nx1); 88 _rz[1] = (float)(xy_sina * nx1); 89 _rz[2] = (float)xz_cosa; 90 cvScale( &rz, &rz, 1./cvNorm(&rz,0,CV_L2) ); 91 92 /* new axe y */ 93 cvCrossProduct( &rz, &rx, &ry ); 94 cvScale( &ry, &ry, 1./cvNorm( &ry, 0, CV_L2 ) ); 95 96 /* transpone rotation matrix */ 97 memcpy( &_r_trans[0], line, 3*sizeof(float)); 98 memcpy( &_r_trans[3], _ry, 3*sizeof(float)); 99 memcpy( &_r_trans[6], _rz, 3*sizeof(float)); 100 101 /* calculate center distanse from arm plane */ 102 plane_dist = cvDotProduct( ¢er, &rz ); 103 104 /* calculate (I - r_trans)*center */ 105 cvSetIdentity( &sub ); 106 cvSub( &sub, &r_trans, &sub ); 107 cvMatMul( &sub, ¢er, &t_trans ); 108 109 cvMatMul( &t_trans, &rz, &sub ); 110 cvScaleAdd( &sub, cvRealScalar(1./plane_dist), &r_trans, &sub ); /* ? */ 111 112 cvMatMul( &intrinsic, &sub, &r_trans ); 113 cvInvert( &intrinsic, &sub, CV_SVD ); 114 cvMatMul( &r_trans, &sub, &homography ); 115 116 __END__; 117 } 118 119 /* End of file. */ 120 121