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41
42#include "_cv.h"
43
44/****************************************************************************************\
45
46   calculate image homography
47
48\****************************************************************************************/
49
50CV_IMPL void
51cvCalcImageHomography( 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( &center, &rz );
103
104    /* calculate (I - r_trans)*center */
105    cvSetIdentity( &sub );
106    cvSub( &sub, &r_trans, &sub );
107    cvMatMul( &sub, &center, &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