cvscanlines.cpp.svn-base

来自「非结构化路识别」· SVN-BASE 代码 · 共 2,039 行 · 第 1/4 页

SVN-BASE
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            {

                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;

        }                       /* if */
    }                           /* if */

    r_point[0] = 0;
    r_point[1] = (float) height;
    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[2] = l_point[0];
        l_start_end[3] = l_point[1];

        r_start_end[2] = r_point[0];
        r_start_end[3] = 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[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = 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 )
            {

                l_start_end[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = r_point[1];
            }
            else
                return CV_BADFACTOR_ERR;
        }                       /* if */
    }                           /* if */

    return error;

}                               /* icvlGetStartEnd1 */

/*===========================================================================*/
CvStatus
icvGetStartEnd2( 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) height / width;
    r_diagonal[1] = -1;
    r_diagonal[2] = 0;

    r_point[0] = 0;
    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 )
            {

                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;
        }                       /* if */
    }                           /* if */

    r_point[0] = (float) width;
    r_point[1] = (float) height;
    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[2] = l_point[0];
        l_start_end[3] = l_point[1];

        r_start_end[2] = r_point[0];
        r_start_end[3] = 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[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = 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 )
            {

                l_start_end[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = r_point[1];
            }
            else
                return CV_BADFACTOR_ERR;
        }
    }                           /* if */

    return error;

}                               /* icvlGetStartEnd2 */

/*===========================================================================*/
CvStatus
icvGetStartEnd3( 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) height / width;
    l_diagonal[1] = -1;
    l_diagonal[2] = 0;

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

    r_point[0] = 0;
    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 )
            {

                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;
        }                       /* if */
    }                           /* if */

    r_point[0] = (float) width;
    r_point[1] = (float) height;
    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[2] = l_point[0];
        l_start_end[3] = l_point[1];

        r_start_end[2] = r_point[0];
        r_start_end[3] = 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[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = 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 )
            {

                l_start_end[2] = l_point[0];
                l_start_end[3] = l_point[1];

                r_start_end[2] = r_point[0];
                r_start_end[3] = r_point[1];
            }
            else
                return CV_BADFACTOR_ERR;
        }                       /* if */
    }                           /* if */

    return error;

}                               /* icvlGetStartEnd3 */

/*===========================================================================*/
CvStatus
icvGetStartEnd4( 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;

    F = matrix;

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

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

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

    r_point[0] = 0;
    r_point[1] = 0;
    r_point[2] = 1;

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

    if( error != CV_NO_ERR )
        return error;

    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] = 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 )
            {

                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 ) */
1234

cvscanlines.cpp.svn-base - 源码说明

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