Joe Verbout / Mbed 2 deprecated main

opencv on mbed

Dependencies:   mbed

opencv2/imgproc/detail/distortion_model.hpp@0:ea44dc9ed014, 2016-03-31 (annotated)

Committer:
joeverbout
Date:
Thu Mar 31 21:16:38 2016 +0000
Revision:
0:ea44dc9ed014
OpenCV on mbed attempt

Who changed what in which revision?

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joeverbout 0:ea44dc9ed014 1 /*M///////////////////////////////////////////////////////////////////////////////////////
joeverbout 0:ea44dc9ed014 2 //
joeverbout 0:ea44dc9ed014 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
joeverbout 0:ea44dc9ed014 4 //
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joeverbout 0:ea44dc9ed014 6 // If you do not agree to this license, do not download, install,
joeverbout 0:ea44dc9ed014 7 // copy or use the software.
joeverbout 0:ea44dc9ed014 8 //
joeverbout 0:ea44dc9ed014 9 //
joeverbout 0:ea44dc9ed014 10 // License Agreement
joeverbout 0:ea44dc9ed014 11 // For Open Source Computer Vision Library
joeverbout 0:ea44dc9ed014 12 //
joeverbout 0:ea44dc9ed014 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
joeverbout 0:ea44dc9ed014 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
joeverbout 0:ea44dc9ed014 15 // Third party copyrights are property of their respective owners.
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joeverbout 0:ea44dc9ed014 18 // are permitted provided that the following conditions are met:
joeverbout 0:ea44dc9ed014 19 //
joeverbout 0:ea44dc9ed014 20 // * Redistribution's of source code must retain the above copyright notice,
joeverbout 0:ea44dc9ed014 21 // this list of conditions and the following disclaimer.
joeverbout 0:ea44dc9ed014 22 //
joeverbout 0:ea44dc9ed014 23 // * Redistribution's in binary form must reproduce the above copyright notice,
joeverbout 0:ea44dc9ed014 24 // this list of conditions and the following disclaimer in the documentation
joeverbout 0:ea44dc9ed014 25 // and/or other materials provided with the distribution.
joeverbout 0:ea44dc9ed014 26 //
joeverbout 0:ea44dc9ed014 27 // * The name of the copyright holders may not be used to endorse or promote products
joeverbout 0:ea44dc9ed014 28 // derived from this software without specific prior written permission.
joeverbout 0:ea44dc9ed014 29 //
joeverbout 0:ea44dc9ed014 30 // This software is provided by the copyright holders and contributors "as is" and
joeverbout 0:ea44dc9ed014 31 // any express or implied warranties, including, but not limited to, the implied
joeverbout 0:ea44dc9ed014 32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
joeverbout 0:ea44dc9ed014 33 // In no event shall the Intel Corporation or contributors be liable for any direct,
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joeverbout 0:ea44dc9ed014 39 // the use of this software, even if advised of the possibility of such damage.
joeverbout 0:ea44dc9ed014 40 //
joeverbout 0:ea44dc9ed014 41 //M*/
joeverbout 0:ea44dc9ed014 42
joeverbout 0:ea44dc9ed014 43 #ifndef __OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP__
joeverbout 0:ea44dc9ed014 44 #define __OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP__
joeverbout 0:ea44dc9ed014 45
joeverbout 0:ea44dc9ed014 46 //! @cond IGNORED
joeverbout 0:ea44dc9ed014 47
joeverbout 0:ea44dc9ed014 48 namespace cv { namespace detail {
joeverbout 0:ea44dc9ed014 49 /**
joeverbout 0:ea44dc9ed014 50 Computes the matrix for the projection onto a tilted image sensor
joeverbout 0:ea44dc9ed014 51 \param tauX angular parameter rotation around x-axis
joeverbout 0:ea44dc9ed014 52 \param tauY angular parameter rotation around y-axis
joeverbout 0:ea44dc9ed014 53 \param matTilt if not NULL returns the matrix
joeverbout 0:ea44dc9ed014 54 \f[
joeverbout 0:ea44dc9ed014 55 \vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)}
joeverbout 0:ea44dc9ed014 56 {0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
joeverbout 0:ea44dc9ed014 57 {0}{0}{1} R(\tau_x, \tau_y)
joeverbout 0:ea44dc9ed014 58 \f]
joeverbout 0:ea44dc9ed014 59 where
joeverbout 0:ea44dc9ed014 60 \f[
joeverbout 0:ea44dc9ed014 61 R(\tau_x, \tau_y) =
joeverbout 0:ea44dc9ed014 62 \vecthreethree{\cos(\tau_y)}{0}{-\sin(\tau_y)}{0}{1}{0}{\sin(\tau_y)}{0}{\cos(\tau_y)}
joeverbout 0:ea44dc9ed014 63 \vecthreethree{1}{0}{0}{0}{\cos(\tau_x)}{\sin(\tau_x)}{0}{-\sin(\tau_x)}{\cos(\tau_x)} =
joeverbout 0:ea44dc9ed014 64 \vecthreethree{\cos(\tau_y)}{\sin(\tau_y)\sin(\tau_x)}{-\sin(\tau_y)\cos(\tau_x)}
joeverbout 0:ea44dc9ed014 65 {0}{\cos(\tau_x)}{\sin(\tau_x)}
joeverbout 0:ea44dc9ed014 66 {\sin(\tau_y)}{-\cos(\tau_y)\sin(\tau_x)}{\cos(\tau_y)\cos(\tau_x)}.
joeverbout 0:ea44dc9ed014 67 \f]
joeverbout 0:ea44dc9ed014 68 \param dMatTiltdTauX if not NULL it returns the derivative of matTilt with
joeverbout 0:ea44dc9ed014 69 respect to \f$\tau_x\f$.
joeverbout 0:ea44dc9ed014 70 \param dMatTiltdTauY if not NULL it returns the derivative of matTilt with
joeverbout 0:ea44dc9ed014 71 respect to \f$\tau_y\f$.
joeverbout 0:ea44dc9ed014 72 \param invMatTilt if not NULL it returns the inverse of matTilt
joeverbout 0:ea44dc9ed014 73 **/
joeverbout 0:ea44dc9ed014 74 template <typename FLOAT>
joeverbout 0:ea44dc9ed014 75 void computeTiltProjectionMatrix(FLOAT tauX,
joeverbout 0:ea44dc9ed014 76 FLOAT tauY,
joeverbout 0:ea44dc9ed014 77 Matx<FLOAT, 3, 3>* matTilt = 0,
joeverbout 0:ea44dc9ed014 78 Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
joeverbout 0:ea44dc9ed014 79 Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
joeverbout 0:ea44dc9ed014 80 Matx<FLOAT, 3, 3>* invMatTilt = 0)
joeverbout 0:ea44dc9ed014 81 {
joeverbout 0:ea44dc9ed014 82 FLOAT cTauX = cos(tauX);
joeverbout 0:ea44dc9ed014 83 FLOAT sTauX = sin(tauX);
joeverbout 0:ea44dc9ed014 84 FLOAT cTauY = cos(tauY);
joeverbout 0:ea44dc9ed014 85 FLOAT sTauY = sin(tauY);
joeverbout 0:ea44dc9ed014 86 Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
joeverbout 0:ea44dc9ed014 87 Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
joeverbout 0:ea44dc9ed014 88 Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
joeverbout 0:ea44dc9ed014 89 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);
joeverbout 0:ea44dc9ed014 90 if (matTilt)
joeverbout 0:ea44dc9ed014 91 {
joeverbout 0:ea44dc9ed014 92 // Matrix for trapezoidal distortion of tilted image sensor
joeverbout 0:ea44dc9ed014 93 *matTilt = matProjZ * matRotXY;
joeverbout 0:ea44dc9ed014 94 }
joeverbout 0:ea44dc9ed014 95 if (dMatTiltdTauX)
joeverbout 0:ea44dc9ed014 96 {
joeverbout 0:ea44dc9ed014 97 // Derivative with respect to tauX
joeverbout 0:ea44dc9ed014 98 Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
joeverbout 0:ea44dc9ed014 99 Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
joeverbout 0:ea44dc9ed014 100 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
joeverbout 0:ea44dc9ed014 101 *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
joeverbout 0:ea44dc9ed014 102 }
joeverbout 0:ea44dc9ed014 103 if (dMatTiltdTauY)
joeverbout 0:ea44dc9ed014 104 {
joeverbout 0:ea44dc9ed014 105 // Derivative with respect to tauY
joeverbout 0:ea44dc9ed014 106 Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
joeverbout 0:ea44dc9ed014 107 Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
joeverbout 0:ea44dc9ed014 108 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
joeverbout 0:ea44dc9ed014 109 *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
joeverbout 0:ea44dc9ed014 110 }
joeverbout 0:ea44dc9ed014 111 if (invMatTilt)
joeverbout 0:ea44dc9ed014 112 {
joeverbout 0:ea44dc9ed014 113 FLOAT inv = 1./matRotXY(2,2);
joeverbout 0:ea44dc9ed014 114 Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
joeverbout 0:ea44dc9ed014 115 *invMatTilt = matRotXY.t()*invMatProjZ;
joeverbout 0:ea44dc9ed014 116 }
joeverbout 0:ea44dc9ed014 117 }
joeverbout 0:ea44dc9ed014 118 }} // namespace detail, cv
joeverbout 0:ea44dc9ed014 119
joeverbout 0:ea44dc9ed014 120
joeverbout 0:ea44dc9ed014 121 //! @endcond
joeverbout 0:ea44dc9ed014 122
joeverbout 0:ea44dc9ed014 123 #endif // __OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP__
joeverbout 0:ea44dc9ed014 124