www.pudn.com > OpenCV-Intel.zip > cvcalcimagehomography.cpp

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#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( ¢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__; 
} 
 
/* End of file. */