_vm.h 13.4 KB
Newer Older
wester committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297
/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  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.
//
//
//                        Intel License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// 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.
//
//   * Redistribution's in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//   * The name of Intel Corporation may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/

#ifndef _CV_VM_H_
#define _CV_VM_H_

/*----------------------- Internal ViewMorphing Functions ------------------------------*/

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

typedef struct CvMatrix4
{
    float m[4][4];
}
CvMatrix4;


/* Scanline section. Find coordinates by fundamental matrix */

/* Epsilon and real zero */
#define EPSILON             1.e-4
//#define REAL_ZERO(x)        ( (x) < EPSILON && (x) > -EPSILON)
#define REAL_ZERO(x) ( (x) < 1e-8 && (x) > -1e-8)

#define SIGN(x)				( (x)<0 ? -1:((x)>0?1:0 ) )

CvStatus  icvMakeScanlinesLengths( int*        scanlines,
                                    int         numlines,
                                    int*        lens);

/*=============================== PreWarp section ======================================*/

CV_INLINE int icvGetColor(uchar* valueRGB);

CvStatus  icvFindRunsInOneImage(
                                int     numLines,       /* number of scanlines		*/
                                uchar*  prewarp,        /* prewarp image 			*/
                                int*    line_lens,      /* line lengths in pixels	*/
                                int*    runs,           /* result runs				*/
                                int*    num_runs);

/*================================ Morphing section ====================================*/

CvStatus  icvMorphEpilines8uC3(    uchar*  first_pix, /* raster epiline from the first image       */
                                    uchar*  second_pix, /* raster epiline from the second image      */
                                    uchar*  dst_pix,    /* raster epiline from the destination image */
                                                        /* (it's an output parameter)                */
                                    float   alpha,      /* relative position of camera               */
                                    int*    first,      /* first sequence of runs                    */
                                    int     first_runs, /* it's length                               */
                                    int*    second,     /* second sequence of runs                   */
                                    int     second_runs,
                                    int*    first_corr, /* correspond information for the 1st seq    */
                                    int*    second_corr,
                                    int     dst_len);   /* correspond information for the 2nd seq    */

/*========================== Dynamic correspond section ================================*/

CvStatus  icvDynamicCorrespond(   int*  first,         /* first sequence of runs           */
                                                         /* s0|w0|s1|w1|...|s(n-1)|w(n-1)|sn */
                                    int   first_runs,    /* number of runs                   */
                                    int*  second,        /* second sequence of runs          */
                                    int   second_runs,
                                    int*  first_corr,    /* s0'|e0'|s1'|e1'|...              */
                                    int*  second_corr );

/*============================= PostWarp Functions =====================================*/

CvStatus  icvFetchLine8uC3R(
                                uchar*   src,  int   src_step,
                                uchar*   dst,  int*  dst_num,
                                CvSize  src_size,
                                CvPoint start,
                                CvPoint end );

CvStatus  icvDrawLine8uC3R(
                                uchar*   src,  int  src_num,
                                uchar*   dst,  int  dst_step,
                                CvSize  dst_size,
                                CvPoint start,
                                CvPoint end );


/*============================== Fundamental Matrix Functions ==========================*/
CvStatus  icvPoint7(  int*        points1,
                        int*        points2,
                        double*     F,
                        int*        amount
                        );

CvStatus  icvCubic(      double a2, double a1,
                            double a0, double* squares );

double icvDet( double* M );
double   icvMinor( double* M, int x, int y );

int
icvGaussMxN( double *A, double *B, int M, int N, double **solutions );

CvStatus
icvGetCoef( double *f1, double *f2, double *a2, double *a1, double *a0 );

/*================================= Scanlines Functions ================================*/

CvStatus  icvGetCoefficient(  CvMatrix3*     matrix,
                                CvSize         imgSize,
                                int*            scanlines_1,
                                int*            scanlines_2,
                                int*            numlines);

CvStatus  icvGetCoefficientDefault(   CvMatrix3*     matrix,
                                        CvSize         imgSize,
                                        int*            scanlines_1,
                                        int*            scanlines_2,
                                        int*            numlines);

CvStatus  icvGetCoefficientStereo(    CvMatrix3*     matrix,
                                        CvSize         imgSize,
                                        float*          l_epipole,
                                        float*          r_epipole,
                                        int*            scanlines_1,
                                        int*            scanlines_2,
                                        int*            numlines
                                    );

CvStatus  icvGetCoefficientOrto(  CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    int*            scanlines_1,
                                    int*            scanlines_2,
                                    int*            numlines);


CvStatus  icvGetCrossEpilineFrame(    CvSize     imgSize,
                                        float*      epiline,
                                        int*        x1,
                                        int*        y1,
                                        int*        x2,
                                        int*        y2
                                    );

CvStatus  icvBuildScanlineLeftStereo(
                                        CvSize         imgSize,
                                        CvMatrix3*     matrix,
                                        float*          l_epipole,
                                        float*          l_angle,
                                        float           l_radius,
                                        int*            scanlines_1,
                                        int*            scanlines_2,
                                        int*            numlines);

CvStatus  icvBuildScanlineRightStereo(
                                        CvSize         imgSize,
                                        CvMatrix3*     matrix,
                                        float*          r_epipole,
                                        float*          r_angle,
                                        float           r_radius,
                                        int*            scanlines_1,
                                        int*            scanlines_2,
                                        int*            numlines);

CvStatus  icvGetStartEnd1(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    float*          l_start_end,
                                    float*          r_start_end );

CvStatus  icvGetStartEnd2(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    float*          l_start_end,
                                    float*          r_start_end );

CvStatus  icvGetStartEnd3(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    float*          l_start_end,
                                    float*          r_start_end );

CvStatus  icvGetStartEnd4(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    float*          l_start_end,
                                    float*          r_start_end );

CvStatus  icvBuildScanlineLeft(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    int*            scanlines_1,
                                    int*            scanlines_2,
                                    float*          l_start_end,
                                    int*            numlines
                                    );

CvStatus  icvBuildScanlineRight(
                                    CvMatrix3*     matrix,
                                    CvSize         imgSize,
                                    int*            scanlines_1,
                                    int*            scanlines_2,
                                    float*          r_start_end,
                                    int*            numlines
                                    );


/*=================================== LMedS Functions ==================================*/
CvStatus  icvLMedS7(
                        int*            points1,
                        int*            points2,
                        CvMatrix3*     matrix);


CvStatus  icvLMedS(   int*    points1,
                        int*    points2,
                        int     numPoints,
                        CvMatrix3* fundamentalMatrix );


/*
CvStatus  icvFindFundamentalMatrix(
                                    int*            points1,
                                    int*            points2,
                                    int             numpoints,
                                    int             method,
                                    CvMatrix3*      matrix);
*/
void   icvChoose7(	int*    ml,     int* mr,
                        int     num,	int* ml7,
                        int*   mr7 );

double icvMedian(	int* ml, int* mr,
                    int num, double* F );

int icvBoltingPoints( int* ml,	    int* mr,
                        int num,        double* F,
                        double Mj,      int* *new_ml,
                        int* *new_mr,   int* new_num);

CvStatus  icvPoints8( int* ml, int* mr,
                        int num, double* F );

CvStatus  icvRank2Constraint( double* F );

CvStatus  icvSort( double* array, int length );

double icvAnalyticPoints8(	double* A,
                                            int num, double* F );

int icvSingularValueDecomposition(	int		M,
                                        int		N,
                                        double*	A,
                                        double*	W,
                                        int		get_U,
                                        double*	U,
                                        int		get_V,
                                        double*	V
                                                 );


/*======================================================================================*/
#endif/*_CV_VM_H_*/