/*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. // // // License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2009, Willow Garage Inc., 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 the copyright holders 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 OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP #define OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP //! @cond IGNORED namespace cv { /** Computes the matrix for the projection onto a tilted image sensor \param tauX angular parameter rotation around x-axis \param tauY angular parameter rotation around y-axis \param matTilt if not NULL returns the matrix \f[ \vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)} {0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)} {0}{0}{1} R(\tau_x, \tau_y) \f] where \f[ R(\tau_x, \tau_y) = \vecthreethree{\cos(\tau_y)}{0}{-\sin(\tau_y)}{0}{1}{0}{\sin(\tau_y)}{0}{\cos(\tau_y)} \vecthreethree{1}{0}{0}{0}{\cos(\tau_x)}{\sin(\tau_x)}{0}{-\sin(\tau_x)}{\cos(\tau_x)} = \vecthreethree{\cos(\tau_y)}{\sin(\tau_y)\sin(\tau_x)}{-\sin(\tau_y)\cos(\tau_x)} {0}{\cos(\tau_x)}{\sin(\tau_x)} {\sin(\tau_y)}{-\cos(\tau_y)\sin(\tau_x)}{\cos(\tau_y)\cos(\tau_x)}. \f] \param dMatTiltdTauX if not NULL it returns the derivative of matTilt with respect to \f$\tau_x\f$. \param dMatTiltdTauY if not NULL it returns the derivative of matTilt with respect to \f$\tau_y\f$. \param invMatTilt if not NULL it returns the inverse of matTilt **/ template void computeTiltProjectionMatrix(FLOAT tauX, FLOAT tauY, Matx* matTilt = 0, Matx* dMatTiltdTauX = 0, Matx* dMatTiltdTauY = 0, Matx* invMatTilt = 0) { FLOAT cTauX = cos(tauX); FLOAT sTauX = sin(tauX); FLOAT cTauY = cos(tauY); FLOAT sTauY = sin(tauY); Matx matRotX = Matx(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX); Matx matRotY = Matx(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY); Matx matRotXY = matRotY * matRotX; Matx matProjZ = Matx(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1); if (matTilt) { // Matrix for trapezoidal distortion of tilted image sensor *matTilt = matProjZ * matRotXY; } if (dMatTiltdTauX) { // Derivative with respect to tauX Matx dMatRotXYdTauX = matRotY * Matx(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX); Matx dMatProjZdTauX = Matx(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2), 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0); *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY); } if (dMatTiltdTauY) { // Derivative with respect to tauY Matx dMatRotXYdTauY = Matx(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX; Matx dMatProjZdTauY = Matx(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2), 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0); *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY); } if (invMatTilt) { FLOAT inv = 1./matRotXY(2,2); Matx invMatProjZ = Matx(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1); *invMatTilt = matRotXY.t()*invMatProjZ; } } } // namespace detail, _3d, cv //! @endcond #endif // OPENCV_IMGPROC_DETAIL_DISTORTION_MODEL_HPP