/*M///////////////////////////////////////////////////////////////////////////////////////
//
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//
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//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
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//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
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// derived from this software without specific prior written permission.
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// (including, but not limited to, procurement of substitute goods or services;
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//M*/
#include "_cvaux.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 )
cvFree( &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 */
/*======================================================================================*/
static 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;
}
/*======================================================================================*/
static 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];
double a, b;
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;
a = fabs( l_start_end[0] - l_start_end[2] );
b = fabs( r_start_end[0] - r_start_end[2] );
if( a > b )
{
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 )
{
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 ) */
l_point[0] = (float) width;
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;
} /* 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] = 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;
}
else
{ /* if( l_point[0] > width ) */
l_point[0] = (float) width;
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;
} /* if */
} /* if */
return CV_NO_ERR;
} /* icvlGetStartEnd4 */
/*===========================================================================*/
CvStatus
icvBuildScanlineLeft( CvMatrix3 * matrix,
CvSize imgSize,
int *scanlines_1, int *scanlines_2, float *l_start_end, int *numlines )
{
int prewarp_height;
float l_point[3];
float r_point[3];
float height;
float delta_x;
float delta_y;
CvStatus error = CV_OK;
CvMatrix3 *F;
float i;
int offset;
float epiline[3];
double a, b;
assert( l_start_end != 0 );
a = fabs( l_start_end[2] - l_start_end[0] );
b = fabs( l_start_end[3] - l_start_end[1] );
prewarp_height = cvRound( MAX(a, b) );
*numlines = prewarp_height;
if( scanlines_1 == 0 && scanlines_2 == 0 )
return CV_NO_ERR;
F = matrix;
l_point[2] = 1;
height = (float) prewarp_height;
delta_x = (l_start_end[2] - l_start_end[0]) / height;
l_start_end[0] += delta_x;
l_start_end[2] -= delta_x;
delta_x = (l_start_end[2] - l_start_end[0]) / height;
delta_y = (l_start_end[3] - l_start_end[1]) / height;
l_start_end[1] += delta_y;
l_start_end[3] -= delta_y;
delta_y = (l_start_end[3] - l_start_end[1]) / height;
for( i = 0, offset = 0; i < height; i++, offset += 4 )
{
l_point[0] = l_start_end[0] + i * delta_x;
l_point[1] = l_start_end[1] + i * delta_y;
icvMultMatrixTVector3( F, l_point, epiline );
error = icvGetCrossEpilineFrame( imgSize, epiline,
scanlines_2 + offset,
scanlines_2 + offset + 1,
scanlines_2 + offset + 2, scanlines_2 + offset + 3 );
assert( error == CV_NO_ERR );
r_point[0] = -(float) (*(scanlines_2 + offset));
r_point[1] = -(float) (*(scanlines_2 + offset + 1));
r_point[2] = -1;
icvMultMatrixVector3( F, r_point, epiline );
error = icvGetCrossEpilineFrame( imgSize, epiline,
scanlines_1 + offset,
scanlines_1 + offset + 1,
scanlines_1 + offset + 2, scanlines_1 + offset + 3 );
assert( error == CV_NO_ERR );
} /* for */
*numlines = prewarp_height;
return error;
} /*icvlBuildScanlineLeft */
/*===========================================================================*/
CvStatus
icvBuildScanlineRight( CvMatrix3 * matrix,
CvSize imgSize,
int *scanlines_1, int *scanlines_2, float *r_start_end, int *numlines )
{
int prewarp_height;
float l_point[3];
float r_point[3];
float height;
float delta_x;
float delta_y;
CvStatus error = CV_OK;
CvMatrix3 *F;
float i;
int offset;
float epiline[3];
double a, b;
assert( r_start_end != 0 );
a = fabs( r_start_end[2] - r_start_end[0] );
b = fabs( r_start_end[3] - r_start_end[1] );
prewarp_height = cvRound( MAX(a, b) );
*numlines = prewarp_height;
if( scanlines_1 == 0 && scanlines_2 == 0 )
return CV_NO_ERR;
F = matrix;
r_point[2] = 1;
height = (float) prewarp_height;
delta_x = (r_start_end[2] - r_start_end[0]) / height;
r_start_end[0] += delta_x;
r_start_end[2] -= delta_x;
delta_x = (r_start_end[2] - r_start_end[0]) / height;
delta_y = (r_start_end[3] - r_start_end[1]) / height;
r_start_end[1] += delta_y;
r_start_end[3] -= delta_y;
delta_y = (r_start_end[3] - r_start_end[1]) / height;
for( i = 0, offset = 0; i < height; i++, offset += 4 )
{
r_point[0] = r_start_end[0] + i * delta_x;
r_point[1] = r_start_end[1] + i * delta_y;
icvMultMatrixVector3( F, r_point, epiline );
error = icvGetCrossEpilineFrame( imgSize, epiline,
scanlines_1 + offset,
scanlines_1 + offset + 1,
scanlines_1 + offset + 2, scanlines_1 + offset + 3 );
assert( error == CV_NO_ERR );
l_point[0] = -(float) (*(scanlines_1 + offset));
l_point[1] = -(float) (*(scanlines_1 + offset + 1));
l_point[2] = -1;
icvMultMatrixTVector3( F, l_point, epiline );
error = icvGetCrossEpilineFrame( imgSize, epiline,
scanlines_2 + offset,
scanlines_2 + offset + 1,
scanlines_2 + offset + 2, scanlines_2 + offset + 3 );
assert( error == CV_NO_ERR );
} /* for */
*numlines = prewarp_height;
return error;
} /*icvlBuildScanlineRight */
/*===========================================================================*/
#define Abs(x) ( (x)<0 ? -(x):(x) )
#define Sgn(x) ( (x)<0 ? -1:1 ) /* Sgn(0) = 1 ! */
static CvStatus
icvBuildScanline( CvSize imgSize, float *epiline, float *kx, float *cx, float *ky, float *cy )
{
float point[4][2], d;
int sign[4], i;
float width, height;
if( REAL_ZERO( epiline[0] ) && REAL_ZERO( epiline[1] ))
return CV_BADFACTOR_ERR;
width = (float) imgSize.width - 1;
height = (float) imgSize.height - 1;
sign[0] = Sgn( epiline[2] );
sign[1] = Sgn( epiline[0] * width + epiline[2] );
sign[2] = Sgn( epiline[1] * height + epiline[2] );
sign[3] = Sgn( epiline[0] * width + epiline[1] * height + epiline[2] );
i = 0;
if( sign[0] * sign[1] < 0 )
{
point[i][0] = -epiline[2] / epiline[0];
point[i][1] = 0;
i++;
} /* if */
if( sign[0] * sign[2] < 0 )
{
point[i][0] = 0;
point[i][1] = -epiline[2] / epiline[1];
i++;
} /* if */
if( sign[1] * sign[3] < 0 )
{
point[i][0] = width;
point[i][1] = -(epiline[0] * width + epiline[2]) / epiline[1];
i++;
} /* if */
if( sign[2] * sign[3] < 0 )
{
point[i][0] = -(epiline[1] * height + epiline[2]) / epiline[0];
point[i][1] = height;
} /* if */
if( sign[0] == sign[1] && sign[0] == sign[2] && sign[0] == sign[3] )
return CV_BADFACTOR_ERR;
if( !kx && !ky && !cx && !cy )
return CV_BADFACTOR_ERR;
if( kx && ky )
{
*kx = -epiline[1];
*ky = epiline[0];
d = (float) MAX( Abs( *kx ), Abs( *ky ));
*kx /= d;
*ky /= d;
} /* if */
if( cx && cy )
{
if( (point[0][0] - point[1][0]) * epiline[1] +
(point[1][1] - point[0][1]) * epiline[0] > 0 )
{
*cx = point[0][0];
*cy = point[0][1];
}
else
{
*cx = point[1][0];
*cy = point[1][1];
} /* if */
} /* if */
return CV_NO_ERR;
} /* icvlBuildScanline */
/*===========================================================================*/
CvStatus
icvGetCoefficientStereo( CvMatrix3 * matrix,
CvSize imgSize,
float *l_epipole,
float *r_epipole, int *scanlines_1, int *scanlines_2, int *numlines )
{
int i, j, turn;
float width, height;
float l_angle[2], r_angle[2];
float l_radius, r_radius;
float r_point[3], l_point[3];
float l_epiline[3], r_epiline[3], x, y;
float swap;
float radius1, radius2, radius3, radius4;
float l_start_end[4], r_start_end[4];
CvMatrix3 *F;
CvStatus error;
float Region[3][3][4] = {
{{0.f, 0.f, 1.f, 1.f}, {0.f, 1.f, 1.f, 1.f}, {0.f, 1.f, 1.f, 0.f}},
{{0.f, 0.f, 0.f, 1.f}, {2.f, 2.f, 2.f, 2.f}, {1.f, 1.f, 1.f, 0.f}},
{{1.f, 0.f, 0.f, 1.f}, {1.f, 0.f, 0.f, 0.f}, {1.f, 1.f, 0.f, 0.f}}
};
width = (float) imgSize.width - 1;
height = (float) imgSize.height - 1;
F = matrix;
if( F->m[0][0] * F->m[1][1] - F->m[1][0] * F->m[0][1] > 0 )
turn = 1;
else
turn = -1;
if( l_epipole[0] < 0 )
i = 0;
else if( l_epipole[0] < width )
i = 1;
else
i = 2;
if( l_epipole[1] < 0 )
j = 2;
else if( l_epipole[1] < height )
j = 1;
else
j = 0;
l_start_end[0] = Region[j][i][0];
l_start_end[1] = Region[j][i][1];
l_start_end[2] = Region[j][i][2];
l_start_end[3] = Region[j][i][3];
if( r_epipole[0] < 0 )
i = 0;
else if( r_epipole[0] < width )
i = 1;
else
i = 2;
if( r_epipole[1] < 0 )
j = 2;
else if( r_epipole[1] < height )
j = 1;
else
j = 0;
r_start_end[0] = Region[j][i][0];
r_start_end[1] = Region[j][i][1];
r_start_end[2] = Region[j][i][2];
r_start_end[3] = Region[j][i][3];
radius1 = l_epipole[0] * l_epipole[0] + (l_epipole[1] - height) * (l_epipole[1] - height);
radius2 = (l_epipole[0] - width) * (l_epipole[0] - width) +
(l_epipole[1] - height) * (l_epipole[1] - height);
radius3 = l_epipole[0] * l_epipole[0] + l_epipole[1] * l_epipole[1];
radius4 = (l_epipole[0] - width) * (l_epipole[0] - width) + l_epipole[1] * l_epipole[1];
l_radius = (float) sqrt( (double)MAX( MAX( radius1, radius2 ), MAX( radius3, radius4 )));
radius1 = r_epipole[0] * r_epipole[0] + (r_epipole[1] - height) * (r_epipole[1] - height);
radius2 = (r_epipole[0] - width) * (r_epipole[0] - width) +
(r_epipole[1] - height) * (r_epipole[1] - height);
radius3 = r_epipole[0] * r_epipole[0] + r_epipole[1] * r_epipole[1];
radius4 = (r_epipole[0] - width) * (r_epipole[0] - width) + r_epipole[1] * r_epipole[1];
r_radius = (float) sqrt( (double)MAX( MAX( radius1, radius2 ), MAX( radius3, radius4 )));
if( l_start_end[0] == 2 && r_start_end[0] == 2 )
if( l_radius > r_radius )
{
l_angle[0] = 0.0f;
l_angle[1] = (float) CV_PI;
error = icvBuildScanlineLeftStereo( imgSize,
matrix,
l_epipole,
l_angle,
l_radius, scanlines_1, scanlines_2, numlines );
return error;
}
else
{
r_angle[0] = 0.0f;
r_angle[1] = (float) CV_PI;
error = icvBuildScanlineRightStereo( imgSize,
matrix,
r_epipole,
r_angle,
r_radius,
scanlines_1, scanlines_2, numlines );
return error;
} /* if */
if( l_start_end[0] == 2 )
{
r_angle[0] = (float) atan2( r_start_end[1] * height - r_epipole[1],
r_start_end[0] * width - r_epipole[0] );
r_angle[1] = (float) atan2( r_start_end[3] * height - r_epipole[1],
r_start_end[2] * width - r_epipole[0] );
if( r_angle[0] > r_angle[1] )
r_angle[1] += (float) (CV_PI * 2);
error = icvBuildScanlineRightStereo( imgSize,
matrix,
r_epipole,
r_angle,
r_radius, scanlines_1, scanlines_2, numlines );
return error;
} /* if */
if( r_start_end[0] == 2 )
{
l_point[0] = l_start_end[0] * width;
l_point[1] = l_start_end[1] * height;
l_point[2] = 1;
icvMultMatrixTVector3( F, l_point, r_epiline );
l_angle[0] = (float) atan2( l_start_end[1] * height - l_epipole[1],
l_start_end[0] * width - l_epipole[0] );
l_angle[1] = (float) atan2( l_start_end[3] * height - l_epipole[1],
l_start_end[2] * width - l_epipole[0] );
if( l_angle[0] > l_angle[1] )
l_angle[1] += (float) (CV_PI * 2);
error = icvBuildScanlineLeftStereo( imgSize,
matrix,
l_epipole,
l_angle,
l_radius, scanlines_1, scanlines_2, numlines );
return error;
} /* if */
l_start_end[0] *= width;
l_start_end[1] *= height;
l_start_end[2] *= width;
l_start_end[3] *= height;
r_start_end[0] *= width;
r_start_end[1] *= height;
r_start_end[2] *= width;
r_start_end[3] *= height;
r_point[0] = r_start_end[0];
r_point[1] = r_start_end[1];
r_point[2] = 1;
icvMultMatrixVector3( F, r_point, l_epiline );
error = icvBuildScanline( imgSize, l_epiline, 0, &x, 0, &y );
if( error == CV_NO_ERR )
{
l_angle[0] = (float) atan2( y - l_epipole[1], x - l_epipole[0] );
r_angle[0] = (float) atan2( r_point[1] - r_epipole[1], r_point[0] - r_epipole[0] );
}
else
{
if( turn == 1 )
{
l_point[0] = l_start_end[0];
l_point[1] = l_start_end[1];
}
else
{
l_point[0] = l_start_end[2];
l_point[1] = l_start_end[3];
} /* if */
l_point[2] = 1;
icvMultMatrixTVector3( F, l_point, r_epiline );
error = icvBuildScanline( imgSize, r_epiline, 0, &x, 0, &y );
if( error == CV_NO_ERR )
{
r_angle[0] = (float) atan2( y - r_epipole[1], x - r_epipole[0] );
l_angle[0] = (float) atan2( l_point[1] - l_epipole[1], l_point[0] - l_epipole[0] );
}
else
return CV_BADFACTOR_ERR;
} /* if */
r_point[0] = r_start_end[2];
r_point[1] = r_start_end[3];
r_point[2] = 1;
icvMultMatrixVector3( F, r_point, l_epiline );
error = icvBuildScanline( imgSize, l_epiline, 0, &x, 0, &y );
if( error == CV_NO_ERR )
{
l_angle[1] = (float) atan2( y - l_epipole[1], x - l_epipole[0] );
r_angle[1] = (float) atan2( r_point[1] - r_epipole[1], r_point[0] - r_epipole[0] );
}
else
{
if( turn == 1 )
{
l_point[0] = l_start_end[2];
l_point[1] = l_start_end[3];
}
else
{
l_point[0] = l_start_end[0];
l_point[1] = l_start_end[1];
} /* if */
l_point[2] = 1;
icvMultMatrixTVector3( F, l_point, r_epiline );
error = icvBuildScanline( imgSize, r_epiline, 0, &x, 0, &y );
if( error == CV_NO_ERR )
{
r_angle[1] = (float) atan2( y - r_epipole[1], x - r_epipole[0] );
l_angle[1] = (float) atan2( l_point[1] - l_epipole[1], l_point[0] - l_epipole[0] );
}
else
return CV_BADFACTOR_ERR;
} /* if */
if( l_angle[0] > l_angle[1] )
{
swap = l_angle[0];
l_angle[0] = l_angle[1];
l_angle[1] = swap;
} /* if */
if( l_angle[1] - l_angle[0] > CV_PI )
{
swap = l_angle[0];
l_angle[0] = l_angle[1];
l_angle[1] = swap + (float) (CV_PI * 2);
} /* if */
if( r_angle[0] > r_angle[1] )
{
swap = r_angle[0];
r_angle[0] = r_angle[1];
r_angle[1] = swap;
} /* if */
if( r_angle[1] - r_angle[0] > CV_PI )
{
swap = r_angle[0];
r_angle[0] = r_angle[1];
r_angle[1] = swap + (float) (CV_PI * 2);
} /* if */
if( l_radius * (l_angle[1] - l_angle[0]) > r_radius * (r_angle[1] - r_angle[0]) )
error = icvBuildScanlineLeftStereo( imgSize,
matrix,
l_epipole,
l_angle,
l_radius, scanlines_1, scanlines_2, numlines );
else
error = icvBuildScanlineRightStereo( imgSize,
matrix,
r_epipole,
r_angle,
r_radius, scanlines_1, scanlines_2, numlines );
return error;
} /* icvGetCoefficientStereo */
/*===========================================================================*/
CvStatus
icvBuildScanlineLeftStereo( CvSize imgSize,
CvMatrix3 * matrix,
float *l_epipole,
float *l_angle,
float l_radius, int *scanlines_1, int *scanlines_2, int *numlines )
{
//int prewarp_width;
int prewarp_height;
float i;
int offset;
float height;
float delta;
float angle;
float l_point[3];
float l_epiline[3];
float r_epiline[3];
CvStatus error = CV_OK;
CvMatrix3 *F;
assert( l_angle != 0 && !REAL_ZERO( l_radius ));
/*prewarp_width = (int) (sqrt( image_width * image_width +
image_height * image_height ) + 1);*/
prewarp_height = (int) (l_radius * (l_angle[1] - l_angle[0]));
*numlines = prewarp_height;
if( scanlines_1 == 0 && scanlines_2 == 0 )
return CV_NO_ERR;
F = matrix;
l_point[2] = 1;
height = (float) prewarp_height;
delta = (l_angle[1] - l_angle[0]) / height;
l_angle[0] += delta;
l_angle[1] -= delta;
delta = (l_angle[1] - l_angle[0]) / height;
for( i = 0, offset = 0; i < height; i++, offset += 4 )
{
angle = l_angle[0] + i * delta;
l_point[0] = l_epipole[0] + l_radius * (float) cos( angle );
l_point[1] = l_epipole[1] + l_radius * (float) sin( angle );
icvMultMatrixTVector3( F, l_point, r_epiline );
error = icvGetCrossEpilineFrame( imgSize, r_epiline,
scanlines_2 + offset,
scanlines_2 + offset + 1,
scanlines_2 + offset + 2, scanlines_2 + offset + 3 );
l_epiline[0] = l_point[1] - l_epipole[1];
l_epiline[1] = l_epipole[0] - l_point[0];
l_epiline[2] = l_point[0] * l_epipole[1] - l_point[1] * l_epipole[0];
if( Sgn( l_epiline[0] * r_epiline[0] + l_epiline[1] * r_epiline[1] ) < 0 )
{
l_epiline[0] = -l_epiline[0];
l_epiline[1] = -l_epiline[1];
l_epiline[2] = -l_epiline[2];
} /* if */
error = icvGetCrossEpilineFrame( imgSize, l_epiline,
scanlines_1 + offset,
scanlines_1 + offset + 1,
scanlines_1 + offset + 2, scanlines_1 + offset + 3 );
} /* for */
*numlines = prewarp_height;
return error;
} /* icvlBuildScanlineLeftStereo */
/*===========================================================================*/
CvStatus
icvBuildScanlineRightStereo( CvSize imgSize,
CvMatrix3 * matrix,
float *r_epipole,
float *r_angle,
float r_radius,
int *scanlines_1, int *scanlines_2, int *numlines )
{
//int prewarp_width;
int prewarp_height;
float i;
int offset;
float height;
float delta;
float angle;
float r_point[3];
float l_epiline[3];
float r_epiline[3];
CvStatus error = CV_OK;
CvMatrix3 *F;
assert( r_angle != 0 && !REAL_ZERO( r_radius ));
/*prewarp_width = (int) (sqrt( image_width * image_width +
image_height * image_height ) + 1);*/
prewarp_height = (int) (r_radius * (r_angle[1] - r_angle[0]));
*numlines = prewarp_height;
if( scanlines_1 == 0 && scanlines_2 == 0 )
return CV_NO_ERR;
F = matrix;
r_point[2] = 1;
height = (float) prewarp_height;
delta = (r_angle[1] - r_angle[0]) / height;
r_angle[0] += delta;
r_angle[1] -= delta;
delta = (r_angle[1] - r_angle[0]) / height;
for( i = 0, offset = 0; i < height; i++, offset += 4 )
{
angle = r_angle[0] + i * delta;
r_point[0] = r_epipole[0] + r_radius * (float) cos( angle );
r_point[1] = r_epipole[1] + r_radius * (float) sin( angle );
icvMultMatrixVector3( F, r_point, l_epiline );
error = icvGetCrossEpilineFrame( imgSize, l_epiline,
scanlines_1 + offset,
scanlines_1 + offset + 1,
scanlines_1 + offset + 2, scanlines_1 + offset + 3 );
assert( error == CV_NO_ERR );
r_epiline[0] = r_point[1] - r_epipole[1];
r_epiline[1] = r_epipole[0] - r_point[0];
r_epiline[2] = r_point[0] * r_epipole[1] - r_point[1] * r_epipole[0];
if( Sgn( l_epiline[0] * r_epiline[0] + l_epiline[1] * r_epiline[1] ) < 0 )
{
r_epiline[0] = -r_epiline[0];
r_epiline[1] = -r_epiline[1];
r_epiline[2] = -r_epiline[2];
} /* if */
error = icvGetCrossEpilineFrame( imgSize, r_epiline,
scanlines_2 + offset,
scanlines_2 + offset + 1,
scanlines_2 + offset + 2, scanlines_2 + offset + 3 );
assert( error == CV_NO_ERR );
} /* for */
*numlines = prewarp_height;
return error;
} /* icvlBuildScanlineRightStereo */
/*===========================================================================*/
CvStatus
icvGetCrossEpilineFrame( CvSize imgSize, float *epiline, int *x1, int *y1, int *x2, int *y2 )
{
int tx, ty;
float point[2][2];
int sign[4], i;
float width, height;
double tmpvalue;
if( REAL_ZERO( epiline[0] ) && REAL_ZERO( epiline[1] ))
return CV_BADFACTOR_ERR;
width = (float) imgSize.width - 1;
height = (float) imgSize.height - 1;
tmpvalue = epiline[2];
sign[0] = SIGN( tmpvalue );
tmpvalue = epiline[0] * width + epiline[2];
sign[1] = SIGN( tmpvalue );
tmpvalue = epiline[1] * height + epiline[2];
sign[2] = SIGN( tmpvalue );
tmpvalue = epiline[0] * width + epiline[1] * height + epiline[2];
sign[3] = SIGN( tmpvalue );
i = 0;
for( tx = 0; tx < 2; tx++ )
{
for( ty = 0; ty < 2; ty++ )
{
if( sign[ty * 2 + tx] == 0 )
{
point[i][0] = width * tx;
point[i][1] = height * ty;
i++;
} /* if */
} /* for */
} /* for */
if( sign[0] * sign[1] < 0 )
{
point[i][0] = -epiline[2] / epiline[0];
point[i][1] = 0;
i++;
} /* if */
if( sign[0] * sign[2] < 0 )
{
point[i][0] = 0;
point[i][1] = -epiline[2] / epiline[1];
i++;
} /* if */
if( sign[1] * sign[3] < 0 )
{
point[i][0] = width;
point[i][1] = -(epiline[0] * width + epiline[2]) / epiline[1];
i++;
} /* if */
if( sign[2] * sign[3] < 0 )
{
point[i][0] = -(epiline[1] * height + epiline[2]) / epiline[0];
point[i][1] = height;
} /* if */
if( sign[0] == sign[1] && sign[0] == sign[2] && sign[0] == sign[3] )
return CV_BADFACTOR_ERR;
if( (point[0][0] - point[1][0]) * epiline[1] +
(point[1][1] - point[0][1]) * epiline[0] > 0 )
{
*x1 = (int) point[0][0];
*y1 = (int) point[0][1];
*x2 = (int) point[1][0];
*y2 = (int) point[1][1];
}
else
{
*x1 = (int) point[1][0];
*y1 = (int) point[1][1];
*x2 = (int) point[0][0];
*y2 = (int) point[0][1];
} /* if */
return CV_NO_ERR;
} /* icvlGetCrossEpilineFrame */
/*=====================================================================================*/
CV_IMPL void
cvMakeScanlines( const CvMatrix3* matrix, CvSize imgSize,
int *scanlines_1, int *scanlines_2,
int *lens_1, int *lens_2, int *numlines )
{
CV_FUNCNAME( "cvMakeScanlines" );
__BEGIN__;
IPPI_CALL( icvMakeScanlines( (CvMatrix3*)matrix, imgSize, scanlines_1,
scanlines_2, lens_1, lens_2, numlines ));
__END__;
}
/*F///////////////////////////////////////////////////////////////////////////////////////
// Name: cvDeleteMoire
// Purpose: The functions
// Context:
// Parameters:
//
// Notes:
//F*/
CV_IMPL void
cvMakeAlphaScanlines( int *scanlines_1,
int *scanlines_2,
int *scanlines_a, int *lens, int numlines, float alpha )
{
CV_FUNCNAME( "cvMakeAlphaScanlines" );
__BEGIN__;
IPPI_CALL( icvMakeAlphaScanlines( scanlines_1, scanlines_2, scanlines_a,
lens, numlines, alpha ));
__END__;
}