Diff: include/opencv2/imgproc/detail/distortion_model.hpp

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0:0e0631af0305

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+++ b/include/opencv2/imgproc/detail/distortion_model.hpp	Fri Jan 29 04:53:38 2021 +0000
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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
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+//
+//  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.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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+// are permitted provided that the following conditions are met:
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+//     this list of conditions and the following disclaimer.
+//
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+//     this list of conditions and the following disclaimer in the documentation
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+//
+//   * The name of the copyright holders may not be used to endorse or promote products
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+// In no event shall the Intel Corporation or contributors be liable for any direct,
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+//M*/
+
+#ifndef OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP
+#define OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP
+
+//! @cond IGNORED
+
+namespace cv { namespace detail {
+/**
+Computes the matrix for the projection onto a tilted image sensor
+\param tauX angular parameter rotation around x-axis
+\param tauY angular parameter rotation around y-axis
+\param matTilt if not NULL returns the matrix
+\f[
+\vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)}
+{0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
+{0}{0}{1} R(\tau_x, \tau_y)
+\f]
+where
+\f[
+R(\tau_x, \tau_y) =
+\vecthreethree{\cos(\tau_y)}{0}{-\sin(\tau_y)}{0}{1}{0}{\sin(\tau_y)}{0}{\cos(\tau_y)}
+\vecthreethree{1}{0}{0}{0}{\cos(\tau_x)}{\sin(\tau_x)}{0}{-\sin(\tau_x)}{\cos(\tau_x)} =
+\vecthreethree{\cos(\tau_y)}{\sin(\tau_y)\sin(\tau_x)}{-\sin(\tau_y)\cos(\tau_x)}
+{0}{\cos(\tau_x)}{\sin(\tau_x)}
+{\sin(\tau_y)}{-\cos(\tau_y)\sin(\tau_x)}{\cos(\tau_y)\cos(\tau_x)}.
+\f]
+\param dMatTiltdTauX if not NULL it returns the derivative of matTilt with
+respect to \f$\tau_x\f$.
+\param dMatTiltdTauY if not NULL it returns the derivative of matTilt with
+respect to \f$\tau_y\f$.
+\param invMatTilt if not NULL it returns the inverse of matTilt
+**/
+template <typename FLOAT>
+void computeTiltProjectionMatrix(FLOAT tauX,
+    FLOAT tauY,
+    Matx<FLOAT, 3, 3>* matTilt = 0,
+    Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
+    Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
+    Matx<FLOAT, 3, 3>* invMatTilt = 0)
+{
+    FLOAT cTauX = cos(tauX);
+    FLOAT sTauX = sin(tauX);
+    FLOAT cTauY = cos(tauY);
+    FLOAT sTauY = sin(tauY);
+    Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
+    Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
+    Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
+    Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
+    if (matTilt)
+    {
+        // Matrix for trapezoidal distortion of tilted image sensor
+        *matTilt = matProjZ * matRotXY;
+    }
+    if (dMatTiltdTauX)
+    {
+        // Derivative with respect to tauX
+        Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
+        Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
+          0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
+        *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
+    }
+    if (dMatTiltdTauY)
+    {
+        // Derivative with respect to tauY
+        Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
+        Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
+          0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
+        *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
+    }
+    if (invMatTilt)
+    {
+        FLOAT inv = 1./matRotXY(2,2);
+        Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
+        *invMatTilt = matRotXY.t()*invMatProjZ;
+    }
+}
+}} // namespace detail, cv
+
+
+//! @endcond
+
+#endif // OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP