Update to 2.0.0 tree from current Fremantle build

[opencv] / src / cv / cvcalcimagehomography.cpp

diff --git a/src/cv/cvcalcimagehomography.cpp b/src/cv/cvcalcimagehomography.cpp
new file mode 100644 (file)
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+++ b/src/cv/cvcalcimagehomography.cpp
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+/*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 "_cv.h"
+
+/****************************************************************************************\
+
+   calculate image homography 
+   
+\****************************************************************************************/
+
+CV_IMPL void
+cvCalcImageHomography( float* line, CvPoint3D32f* _center,
+                       float* _intrinsic, float* _homography )
+{
+    CV_FUNCNAME( "cvCalcImageHomography" );
+
+    __BEGIN__;
+
+    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( &center, &rz );
+
+    /* calculate (I - r_trans)*center */
+    cvSetIdentity( &sub );
+    cvSub( &sub, &r_trans, &sub );
+    cvMatMul( &sub, &center, &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__;
+}
+
+/* End of file. */
+