X-Git-Url: https://vcs.maemo.org/git/?a=blobdiff_plain;f=cv%2Fsrc%2Fcvundistort.cpp;fp=cv%2Fsrc%2Fcvundistort.cpp;h=0000000000000000000000000000000000000000;hb=e4c14cdbdf2fe805e79cd96ded236f57e7b89060;hp=1806680b8c35fb64b2fdf4fdeeeba953209f96d6;hpb=454138ff8a20f6edb9b65a910101403d8b520643;p=opencv

diff --git a/cv/src/cvundistort.cpp b/cv/src/cvundistort.cpp
deleted file mode 100644
index 1806680..0000000
--- a/cv/src/cvundistort.cpp
+++ /dev/null
@@ -1,319 +0,0 @@
-/*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"
-
-static CvStatus
-icvUnDistort_8u_CnR( const uchar* src, int srcstep,
-                     uchar* dst, int dststep, CvSize size,
-                     const float* intrinsic_matrix,
-                     const float* dist_coeffs, int cn )
-{
-    int u, v, i;
-    float u0 = intrinsic_matrix[2], v0 = intrinsic_matrix[5];
-    float fx = intrinsic_matrix[0], fy = intrinsic_matrix[4];
-    float _fx = 1.f/fx, _fy = 1.f/fy;
-    float k1 = dist_coeffs[0], k2 = dist_coeffs[1];
-    float p1 = dist_coeffs[2], p2 = dist_coeffs[3];
-
-    srcstep /= sizeof(src[0]);
-    dststep /= sizeof(dst[0]);
-
-    for( v = 0; v < size.height; v++, dst += dststep )
-    {
-        float y = (v - v0)*_fy;
-        float y2 = y*y;
-        float ky = 1 + (k1 + k2*y2)*y2;
-        float k2y = 2*k2*y2;
-        float _2p1y = 2*p1*y;
-        float _3p1y2 = 3*p1*y2;
-        float p2y2 = p2*y2;
-
-        for( u = 0; u < size.width; u++ )
-        {
-            float x = (u - u0)*_fx;
-            float x2 = x*x;
-            float kx = (k1 + k2*x2)*x2;
-            float d = kx + ky + k2y*x2;
-            float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
-            float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
-            int iu = cvRound(_u*(1 << ICV_WARP_SHIFT));
-            int iv = cvRound(_v*(1 << ICV_WARP_SHIFT));
-            int ifx = iu & ICV_WARP_MASK;
-            int ify = iv & ICV_WARP_MASK;
-            iu >>= ICV_WARP_SHIFT;
-            iv >>= ICV_WARP_SHIFT;
-
-            float a0 = icvLinearCoeffs[ifx*2];
-            float a1 = icvLinearCoeffs[ifx*2 + 1];
-            float b0 = icvLinearCoeffs[ify*2];
-            float b1 = icvLinearCoeffs[ify*2 + 1];
-
-            if( (unsigned)iv < (unsigned)(size.height - 1) &&
-                (unsigned)iu < (unsigned)(size.width - 1) )
-            {
-                const uchar* ptr = src + iv*srcstep + iu*cn;
-                for( i = 0; i < cn; i++ )
-                {
-                    float t0 = a1*CV_8TO32F(ptr[i]) + a0*CV_8TO32F(ptr[i+cn]);
-                    float t1 = a1*CV_8TO32F(ptr[i+srcstep]) + a0*CV_8TO32F(ptr[i + srcstep + cn]);
-                    dst[u*cn + i] = (uchar)cvRound(b1*t0 + b0*t1);
-                }
-            }
-            else
-            {
-                for( i = 0; i < cn; i++ )
-                    dst[u*cn + i] = 0;
-            }
-        }
-    }
-
-    return CV_OK;
-}
-
-
-icvUndistortGetSize_t icvUndistortGetSize_p = 0;
-icvCreateMapCameraUndistort_32f_C1R_t icvCreateMapCameraUndistort_32f_C1R_p = 0;
-icvUndistortRadial_8u_C1R_t icvUndistortRadial_8u_C1R_p = 0;
-icvUndistortRadial_8u_C3R_t icvUndistortRadial_8u_C3R_p = 0;
-
-typedef CvStatus (CV_STDCALL * CvUndistortRadialIPPFunc)
-    ( const void* pSrc, int srcStep, void* pDst, int dstStep, CvSize roiSize,
-      float fx, float fy, float cx, float cy, float k1, float k2, uchar *pBuffer );
-
-CV_IMPL void
-cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
-{
-    static int inittab = 0;
-    uchar* buffer = 0;
-
-    CV_FUNCNAME( "cvUndistort2" );
-
-    __BEGIN__;
-
-    float a[9], k[4];
-    int coi1 = 0, coi2 = 0;
-    CvMat srcstub, *src = (CvMat*)_src;
-    CvMat dststub, *dst = (CvMat*)_dst;
-    CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
-    int cn, src_step, dst_step;
-    CvSize size;
-
-    if( !inittab )
-    {
-        icvInitLinearCoeffTab();
-        icvInitCubicCoeffTab();
-        inittab = 1;
-    }
-
-    CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
-    CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
-
-    if( coi1 != 0 || coi2 != 0 )
-        CV_ERROR( CV_BadCOI, "The function does not support COI" );
-
-    if( CV_MAT_DEPTH(src->type) != CV_8U )
-        CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
-
-    if( src->data.ptr == dst->data.ptr )
-        CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
-
-    if( !CV_ARE_TYPES_EQ( src, dst ))
-        CV_ERROR( CV_StsUnmatchedFormats, "" );
-
-    if( !CV_ARE_SIZES_EQ( src, dst ))
-        CV_ERROR( CV_StsUnmatchedSizes, "" );
-
-    if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3  ||
-        CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
-        CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
-
-    if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
-        dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
-        CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
-        CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
-        CV_ERROR( CV_StsBadArg,
-            "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
-    cvConvert( A, &_a );
-    _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
-                CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
-    cvConvert( dist_coeffs, &_k );
-
-    cn = CV_MAT_CN(src->type);
-    size = cvGetMatSize(src);
-    src_step = src->step ? src->step : CV_STUB_STEP;
-    dst_step = dst->step ? dst->step : CV_STUB_STEP;
-
-    if( fabs((double)k[2]) < 1e-5 && fabs((double)k[3]) < 1e-5 && icvUndistortGetSize_p )
-    {
-        int buf_size = 0;
-        CvUndistortRadialIPPFunc func =
-            cn == 1 ? (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C1R_p :
-                      (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C3R_p;
-
-        if( func && icvUndistortGetSize_p( size, &buf_size ) >= 0 && buf_size > 0 )
-        {
-            CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
-            if( func( src->data.ptr, src_step, dst->data.ptr,
-                      dst_step, size, a[0], a[4],
-                      a[2], a[5], k[0], k[1], buffer ) >= 0 )
-                EXIT;
-        }
-    }
-
-    icvUnDistort_8u_CnR( src->data.ptr, src_step,
-        dst->data.ptr, dst_step, size, a, k, cn );
-
-    __END__;
-
-    cvFree( &buffer );
-}
-
-
-CV_IMPL void
-cvInitUndistortMap( const CvMat* A, const CvMat* dist_coeffs,
-                    CvArr* mapxarr, CvArr* mapyarr )
-{
-    uchar* buffer = 0;
-
-    CV_FUNCNAME( "cvInitUndistortMap" );
-
-    __BEGIN__;
-    
-    float a[9], k[4];
-    int coi1 = 0, coi2 = 0;
-    CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
-    CvMat mapystub, *_mapy = (CvMat*)mapyarr;
-    float *mapx, *mapy;
-    CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
-    int mapxstep, mapystep;
-    int u, v;
-    float u0, v0, fx, fy, _fx, _fy, k1, k2, p1, p2;
-    CvSize size;
-
-    CV_CALL( _mapx = cvGetMat( _mapx, &mapxstub, &coi1 ));
-    CV_CALL( _mapy = cvGetMat( _mapy, &mapystub, &coi2 ));
-
-    if( coi1 != 0 || coi2 != 0 )
-        CV_ERROR( CV_BadCOI, "The function does not support COI" );
-
-    if( CV_MAT_TYPE(_mapx->type) != CV_32FC1 )
-        CV_ERROR( CV_StsUnsupportedFormat, "Both maps must have 32fC1 type" );
-
-    if( !CV_ARE_TYPES_EQ( _mapx, _mapy ))
-        CV_ERROR( CV_StsUnmatchedFormats, "" );
-
-    if( !CV_ARE_SIZES_EQ( _mapx, _mapy ))
-        CV_ERROR( CV_StsUnmatchedSizes, "" );
-
-    if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3  ||
-        CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
-        CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
-
-    if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
-        dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
-        CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
-        CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
-        CV_ERROR( CV_StsBadArg,
-            "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
-    cvConvert( A, &_a );
-    _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
-                CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
-    cvConvert( dist_coeffs, &_k );
-
-    u0 = a[2]; v0 = a[5];
-    fx = a[0]; fy = a[4];
-    _fx = 1.f/fx; _fy = 1.f/fy;
-    k1 = k[0]; k2 = k[1];
-    p1 = k[2]; p2 = k[3];
-
-    mapxstep = _mapx->step ? _mapx->step : CV_STUB_STEP;
-    mapystep = _mapy->step ? _mapy->step : CV_STUB_STEP;
-    mapx = _mapx->data.fl;
-    mapy = _mapy->data.fl;
-
-    size = cvGetMatSize(_mapx);
-    
-    /*if( icvUndistortGetSize_p && icvCreateMapCameraUndistort_32f_C1R_p )
-    {
-        int buf_size = 0;
-        if( icvUndistortGetSize_p( size, &buf_size ) && buf_size > 0 )
-        {
-            CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
-            if( icvCreateMapCameraUndistort_32f_C1R_p(
-                mapx, mapxstep, mapy, mapystep, size,
-                a[0], a[4], a[2], a[5], k[0], k[1], k[2], k[3], buffer ) >= 0 )
-                EXIT;
-        }
-    }*/
-    
-    mapxstep /= sizeof(mapx[0]);
-    mapystep /= sizeof(mapy[0]);
-
-    for( v = 0; v < size.height; v++, mapx += mapxstep, mapy += mapystep )
-    {
-        float y = (v - v0)*_fy;
-        float y2 = y*y;
-        float _2p1y = 2*p1*y;
-        float _3p1y2 = 3*p1*y2;
-        float p2y2 = p2*y2;
-
-        for( u = 0; u < size.width; u++ )
-        {
-            float x = (u - u0)*_fx;
-            float x2 = x*x;
-            float r2 = x2 + y2;
-            float d = 1 + (k1 + k2*r2)*r2;
-            float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
-            float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
-            mapx[u] = _u;
-            mapy[u] = _v;
-        }
-    }
-
-    __END__;
-
-    cvFree( &buffer );
-}
-
-/*  End of file  */