Update to 2.0.0 tree from current Fremantle build

[opencv] / cv / src / cvcalcimagehomography.cpp

diff --git a/cv/src/cvcalcimagehomography.cpp b/cv/src/cvcalcimagehomography.cpp
deleted file mode 100644 (file)
index e820dfc..0000000
--- a/cv/src/cvcalcimagehomography.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-/*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*/
-
-#include "_cv.h"
-
-/****************************************************************************************\
-
-   calculate image homography 
-   
-\****************************************************************************************/
-
-CV_IMPL void
-cvCalcImageHomography( float* line, CvPoint3D32f* _center,
-                       float* _intrinsic, float* _homography )
-{
-    CV_FUNCNAME( "cvCalcImageHomography" );
-
-    __BEGIN__;
-
-    double norm_xy, norm_xz, xy_sina, xy_cosa, xz_sina, xz_cosa, nx1, plane_dist;
-    float _ry[3], _rz[3], _r_trans[9];
-    CvMat rx = cvMat( 1, 3, CV_32F, line );
-    CvMat ry = cvMat( 1, 3, CV_32F, _ry );
-    CvMat rz = cvMat( 1, 3, CV_32F, _rz );
-    CvMat r_trans = cvMat( 3, 3, CV_32F, _r_trans );
-    CvMat center = cvMat( 3, 1, CV_32F, _center );
-
-    float _sub[9];
-    CvMat sub = cvMat( 3, 3, CV_32F, _sub );
-    float _t_trans[3];
-    CvMat t_trans = cvMat( 3, 1, CV_32F, _t_trans );
-
-    CvMat intrinsic = cvMat( 3, 3, CV_32F, _intrinsic );
-    CvMat homography = cvMat( 3, 3, CV_32F, _homography );
-
-    if( !line || !_center || !_intrinsic || !_homography )
-        CV_ERROR( CV_StsNullPtr, "" );
-
-    norm_xy = cvSqrt( line[0] * line[0] + line[1] * line[1] );
-    xy_cosa = line[0] / norm_xy;
-    xy_sina = line[1] / norm_xy;
-
-    norm_xz = cvSqrt( line[0] * line[0] + line[2] * line[2] );
-    xz_cosa = line[0] / norm_xz;
-    xz_sina = line[2] / norm_xz;
-
-    nx1 = -xz_sina;
-
-    _rz[0] = (float)(xy_cosa * nx1);
-    _rz[1] = (float)(xy_sina * nx1);
-    _rz[2] = (float)xz_cosa;
-    cvScale( &rz, &rz, 1./cvNorm(&rz,0,CV_L2) );
-
-    /*  new axe  y  */
-    cvCrossProduct( &rz, &rx, &ry );
-    cvScale( &ry, &ry, 1./cvNorm( &ry, 0, CV_L2 ) );
-
-    /*  transpone rotation matrix    */
-    memcpy( &_r_trans[0], line, 3*sizeof(float));
-    memcpy( &_r_trans[3], _ry, 3*sizeof(float));
-    memcpy( &_r_trans[6], _rz, 3*sizeof(float));
-
-    /*  calculate center distanse from arm plane  */
-    plane_dist = cvDotProduct( &center, &rz );
-
-    /* calculate (I - r_trans)*center */
-    cvSetIdentity( &sub );
-    cvSub( &sub, &r_trans, &sub );
-    cvMatMul( &sub, &center, &t_trans ); 
-
-    cvMatMul( &t_trans, &rz, &sub );
-    cvScaleAdd( &sub, cvRealScalar(1./plane_dist), &r_trans, &sub ); /* ? */
-
-    cvMatMul( &intrinsic, &sub, &r_trans );
-    cvInvert( &intrinsic, &sub, CV_SVD );
-    cvMatMul( &r_trans, &sub, &homography );
-
-    __END__;
-}
-
-/* End of file. */
-