cvscanlines.cpp.svn-base

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/*M///////////////////////////////////////////////////////////////////////////////////////
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//                        Intel License Agreement
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//M*/
#include "_cv.h"
#include "_cvvm.h"

//#define REAL_ZERO(x) ( (x) < 1e-8 && (x) > -1e-8)

static CvStatus
icvGetNormalVector3( CvMatrix3 * Matrix, float *v )
{
/*  return vector v that is any 3-vector perpendicular
    to all the row vectors of Matrix */

    double *solutions = 0;
    double M[3 * 3];
    double B[3] = { 0.f, 0.f, 0.f };
    int i, j, res;

    if( Matrix == 0 || v == 0 )
        return CV_NULLPTR_ERR;

    for( i = 0; i < 3; i++ )
    {
        for( j = 0; j < 3; j++ )
            M[i * 3 + j] = (double) (Matrix->m[i][j]);
    }                           /* for */

    res = icvGaussMxN( M, B, 3, 3, &solutions );

    if( res == -1 )
        return CV_BADFACTOR_ERR;

    if( res > 0 && solutions )
    {
        v[0] = (float) solutions[0];
        v[1] = (float) solutions[1];
        v[2] = (float) solutions[2];
        res = 0;
    }
    else
        res = 1;

    if( solutions )
        icvFree( &solutions );

    if( res )
        return CV_BADFACTOR_ERR;
    else
        return CV_NO_ERR;

}                               /* icvgetNormalVector3 */


/*=====================================================================================*/

static CvStatus
icvMultMatrixVector3( CvMatrix3 * m, float *src, float *dst )
{
    if( m == 0 || src == 0 || dst == 0 )
        return CV_NULLPTR_ERR;

    dst[0] = m->m[0][0] * src[0] + m->m[0][1] * src[1] + m->m[0][2] * src[2];
    dst[1] = m->m[1][0] * src[0] + m->m[1][1] * src[1] + m->m[1][2] * src[2];
    dst[2] = m->m[2][0] * src[0] + m->m[2][1] * src[1] + m->m[2][2] * src[2];

    return CV_NO_ERR;

}                               /* icvMultMatrixVector3 */


/*=====================================================================================*/

static CvStatus
icvMultMatrixTVector3( CvMatrix3 * m, float *src, float *dst )
{
    if( m == 0 || src == 0 || dst == 0 )
        return CV_NULLPTR_ERR;

    dst[0] = m->m[0][0] * src[0] + m->m[1][0] * src[1] + m->m[2][0] * src[2];
    dst[1] = m->m[0][1] * src[0] + m->m[1][1] * src[1] + m->m[2][1] * src[2];
    dst[2] = m->m[0][2] * src[0] + m->m[1][2] * src[1] + m->m[2][2] * src[2];

    return CV_NO_ERR;

}                               /* icvMultMatrixTVector3 */

/*=====================================================================================*/

static CvStatus
icvCrossLines( float *line1, float *line2, float *cross_point )
{
    float delta;

    if( line1 == 0 && line2 == 0 && cross_point == 0 )
        return CV_NULLPTR_ERR;

    delta = line1[0] * line2[1] - line1[1] * line2[0];

    if( REAL_ZERO( delta ))
        return CV_BADFACTOR_ERR;

    cross_point[0] = (-line1[2] * line2[1] + line1[1] * line2[2]) / delta;
    cross_point[1] = (-line1[0] * line2[2] + line1[2] * line2[0]) / delta;
    cross_point[2] = 1;

    return CV_NO_ERR;
}                               /* icvCrossLines */



/*======================================================================================*/

CvStatus
icvMakeScanlines( CvMatrix3 * matrix,
                  CvSize imgSize,
                  int *scanlines_1, int *scanlines_2, int *lens_1, int *lens_2, int *numlines )
{

    CvStatus error;

    error = icvGetCoefficient( matrix, imgSize, scanlines_2, scanlines_1, numlines );

    /* Make Length of scanlines */

    if( scanlines_1 == 0 && scanlines_2 == 0 )
        return error;

    icvMakeScanlinesLengths( scanlines_1, *numlines, lens_1 );

    icvMakeScanlinesLengths( scanlines_2, *numlines, lens_2 );

    matrix = matrix;
    return CV_NO_ERR;


}                               /* icvMakeScanlines */


/*======================================================================================*/

CvStatus
icvMakeScanlinesLengths( int *scanlines, int numlines, int *lens )
{
    int index;
    int x1, y1, x2, y2, dx, dy;
    int curr;

    curr = 0;

    for( index = 0; index < numlines; index++ )
    {

        x1 = scanlines[curr++];
        y1 = scanlines[curr++];
        x2 = scanlines[curr++];
        y2 = scanlines[curr++];

        dx = abs( x1 - x2 ) + 1;
        dy = abs( y1 - y2 ) + 1;

        lens[index] = MAX( dx, dy );

    }
    return CV_NO_ERR;
}

/*======================================================================================*/

CvStatus
icvMakeAlphaScanlines( int *scanlines_1,
                       int *scanlines_2,
                       int *scanlines_a, int *lens, int numlines, float alpha )
{
    int index;
    int x1, y1, x2, y2;
    int curr;
    int dx, dy;
    int curr_len;

    curr = 0;
    curr_len = 0;
    for( index = 0; index < numlines; index++ )
    {

        x1 = (int) (scanlines_1[curr] * alpha + scanlines_2[curr] * (1.0 - alpha));

        scanlines_a[curr++] = x1;

        y1 = (int) (scanlines_1[curr] * alpha + scanlines_2[curr] * (1.0 - alpha));

        scanlines_a[curr++] = y1;

        x2 = (int) (scanlines_1[curr] * alpha + scanlines_2[curr] * (1.0 - alpha));

        scanlines_a[curr++] = x2;

        y2 = (int) (scanlines_1[curr] * alpha + scanlines_2[curr] * (1.0 - alpha));

        scanlines_a[curr++] = y2;

        dx = abs( x1 - x2 ) + 1;
        dy = abs( y1 - y2 ) + 1;

        lens[curr_len++] = MAX( dx, dy );

    }

    return CV_NO_ERR;
}

/*======================================================================================*/







/* //////////////////////////////////////////////////////////////////////////////////// */

CvStatus
icvGetCoefficient( CvMatrix3 * matrix,
                   CvSize imgSize, int *scanlines_1, int *scanlines_2, int *numlines )
{
    float l_epipole[3];
    float r_epipole[3];
    CvMatrix3 *F;
    CvMatrix3 Ft;
    CvStatus error;
    int i, j;

    F = matrix;

    l_epipole[2] = -1;
    r_epipole[2] = -1;

    if( F == 0 )
    {
        error = icvGetCoefficientDefault( matrix,
                                          imgSize, scanlines_1, scanlines_2, numlines );
        return error;
    }


    for( i = 0; i < 3; i++ )
        for( j = 0; j < 3; j++ )
            Ft.m[i][j] = F->m[j][i];


    error = icvGetNormalVector3( &Ft, l_epipole );
    if( error == CV_NO_ERR && !REAL_ZERO( l_epipole[2] ) && !REAL_ZERO( l_epipole[2] - 1 ))
    {

        l_epipole[0] /= l_epipole[2];
        l_epipole[1] /= l_epipole[2];
        l_epipole[2] = 1;
    }                           /* if */

    error = icvGetNormalVector3( F, r_epipole );
    if( error == CV_NO_ERR && !REAL_ZERO( r_epipole[2] ) && !REAL_ZERO( r_epipole[2] - 1 ))
    {

        r_epipole[0] /= r_epipole[2];
        r_epipole[1] /= r_epipole[2];
        r_epipole[2] = 1;
    }                           /* if */

    if( REAL_ZERO( l_epipole[2] - 1 ) && REAL_ZERO( r_epipole[2] - 1 ))
    {
        error = icvGetCoefficientStereo( matrix,
                                         imgSize,
                                         l_epipole,
                                         r_epipole, scanlines_1, scanlines_2, numlines );
        if( error == CV_NO_ERR )
            return CV_NO_ERR;
    }
    else
    {
        if( REAL_ZERO( l_epipole[2] ) && REAL_ZERO( r_epipole[2] ))
        {
            error = icvGetCoefficientOrto( matrix,
                                           imgSize, scanlines_1, scanlines_2, numlines );
            if( error == CV_NO_ERR )
                return CV_NO_ERR;
        }
    }


    error = icvGetCoefficientDefault( matrix, imgSize, scanlines_1, scanlines_2, numlines );

    return error;

}                               /* icvlGetCoefficient */

/*===========================================================================*/
CvStatus
icvGetCoefficientDefault( CvMatrix3 * matrix,
                          CvSize imgSize, int *scanlines_1, int *scanlines_2, int *numlines )
{
    int curr;
    int y;

    *numlines = imgSize.height;

    if( scanlines_1 == 0 && scanlines_2 == 0 )
        return CV_NO_ERR;

    curr = 0;
    for( y = 0; y < imgSize.height; y++ )
    {
        scanlines_1[curr] = 0;
        scanlines_1[curr + 1] = y;
        scanlines_1[curr + 2] = imgSize.width - 1;
        scanlines_1[curr + 3] = y;

        scanlines_2[curr] = 0;
        scanlines_2[curr + 1] = y;
        scanlines_2[curr + 2] = imgSize.width - 1;
        scanlines_2[curr + 3] = y;

        curr += 4;
    }

    matrix = matrix;
    return CV_NO_ERR;

}                               /* icvlGetCoefficientDefault */

/*===========================================================================*/
CvStatus
icvGetCoefficientOrto( CvMatrix3 * matrix,
                       CvSize imgSize, int *scanlines_1, int *scanlines_2, int *numlines )
{
    float l_start_end[4], r_start_end[4];
    CvStatus error;
    CvMatrix3 *F;

    F = matrix;

    if( F->m[0][2] * F->m[1][2] < 0 )
    {                           /* on left / */

        if( F->m[2][0] * F->m[2][1] < 0 )
        {                       /* on right / */
            error = icvGetStartEnd1( F, imgSize, l_start_end, r_start_end );


        }
        else
        {                       /* on right \ */
            error = icvGetStartEnd2( F, imgSize, l_start_end, r_start_end );
        }                       /* if */

    }
    else
    {                           /* on left \ */

        if( F->m[2][0] * F->m[2][1] < 0 )
        {                       /* on right / */
            error = icvGetStartEnd3( F, imgSize, l_start_end, r_start_end );
        }
        else
        {                       /* on right \ */
            error = icvGetStartEnd4( F, imgSize, l_start_end, r_start_end );
        }                       /* if */
    }                           /* if */

    if( error != CV_NO_ERR )
        return error;

    if( fabs( l_start_end[0] - l_start_end[2] ) > fabs( r_start_end[0] - r_start_end[2] ))
    {

        error = icvBuildScanlineLeft( F,
                                      imgSize,
                                      scanlines_1, scanlines_2, l_start_end, numlines );

    }
    else
    {

        error = icvBuildScanlineRight( F,
                                       imgSize,
                                       scanlines_1, scanlines_2, r_start_end, numlines );

    }                           /* if */

    return error;

}                               /* icvlGetCoefficientOrto */

/*===========================================================================*/
CvStatus
icvGetStartEnd1( CvMatrix3 * matrix, CvSize imgSize, float *l_start_end, float *r_start_end )
{

    CvMatrix3 *F;
    int width, height;
    float l_diagonal[3];
    float r_diagonal[3];
    float l_point[3], r_point[3], epiline[3];
    CvStatus error = CV_OK;

    F = matrix;
    width = imgSize.width - 1;
    height = imgSize.height - 1;

    l_diagonal[0] = (float) 1 / width;
    l_diagonal[1] = (float) 1 / height;
    l_diagonal[2] = -1;

    r_diagonal[0] = (float) 1 / width;
    r_diagonal[1] = (float) 1 / height;
    r_diagonal[2] = -1;

    r_point[0] = (float) width;
    r_point[1] = 0;
    r_point[2] = 1;

    icvMultMatrixVector3( F, r_point, epiline );
    error = icvCrossLines( l_diagonal, epiline, l_point );

    assert( error == CV_NO_ERR );

    if( l_point[0] >= 0 && l_point[0] <= width )
    {

        l_start_end[0] = l_point[0];
        l_start_end[1] = l_point[1];

        r_start_end[0] = r_point[0];
        r_start_end[1] = r_point[1];

    }
    else
    {

        if( l_point[0] < 0 )
        {

            l_point[0] = 0;
            l_point[1] = (float) height;
            l_point[2] = 1;

            icvMultMatrixTVector3( F, l_point, epiline );
            error = icvCrossLines( r_diagonal, epiline, r_point );
            assert( error == CV_NO_ERR );

            if( r_point[0] >= 0 && r_point[0] <= width )
            {
                l_start_end[0] = l_point[0];
                l_start_end[1] = l_point[1];

                r_start_end[0] = r_point[0];
                r_start_end[1] = r_point[1];
            }
            else
                return CV_BADFACTOR_ERR;

        }
        else
        {                       /* if( l_point[0] > width ) */

            l_point[0] = (float) width;
            l_point[1] = 0;
            l_point[2] = 1;

            icvMultMatrixTVector3( F, l_point, epiline );
            error = icvCrossLines( r_diagonal, epiline, r_point );
            assert( error == CV_NO_ERR );

            if( r_point[0] >= 0 && r_point[0] <= width )