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40 //M*/
41
42 #include "_cv.h"
43
44 /****************************************************************************************\
45
46 calculate image homography
47
48 \****************************************************************************************/
49
50 CV_IMPL void
cvCalcImageHomography(float * line,CvPoint3D32f * _center,float * _intrinsic,float * _homography)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