+++ /dev/null
-/*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"
-
-static CvStatus
-icvUnDistort_8u_CnR( const uchar* src, int srcstep,
- uchar* dst, int dststep, CvSize size,
- const float* intrinsic_matrix,
- const float* dist_coeffs, int cn )
-{
- int u, v, i;
- float u0 = intrinsic_matrix[2], v0 = intrinsic_matrix[5];
- float fx = intrinsic_matrix[0], fy = intrinsic_matrix[4];
- float _fx = 1.f/fx, _fy = 1.f/fy;
- float k1 = dist_coeffs[0], k2 = dist_coeffs[1];
- float p1 = dist_coeffs[2], p2 = dist_coeffs[3];
-
- srcstep /= sizeof(src[0]);
- dststep /= sizeof(dst[0]);
-
- for( v = 0; v < size.height; v++, dst += dststep )
- {
- float y = (v - v0)*_fy;
- float y2 = y*y;
- float ky = 1 + (k1 + k2*y2)*y2;
- float k2y = 2*k2*y2;
- float _2p1y = 2*p1*y;
- float _3p1y2 = 3*p1*y2;
- float p2y2 = p2*y2;
-
- for( u = 0; u < size.width; u++ )
- {
- float x = (u - u0)*_fx;
- float x2 = x*x;
- float kx = (k1 + k2*x2)*x2;
- float d = kx + ky + k2y*x2;
- float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
- float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
- int iu = cvRound(_u*(1 << ICV_WARP_SHIFT));
- int iv = cvRound(_v*(1 << ICV_WARP_SHIFT));
- int ifx = iu & ICV_WARP_MASK;
- int ify = iv & ICV_WARP_MASK;
- iu >>= ICV_WARP_SHIFT;
- iv >>= ICV_WARP_SHIFT;
-
- float a0 = icvLinearCoeffs[ifx*2];
- float a1 = icvLinearCoeffs[ifx*2 + 1];
- float b0 = icvLinearCoeffs[ify*2];
- float b1 = icvLinearCoeffs[ify*2 + 1];
-
- if( (unsigned)iv < (unsigned)(size.height - 1) &&
- (unsigned)iu < (unsigned)(size.width - 1) )
- {
- const uchar* ptr = src + iv*srcstep + iu*cn;
- for( i = 0; i < cn; i++ )
- {
- float t0 = a1*CV_8TO32F(ptr[i]) + a0*CV_8TO32F(ptr[i+cn]);
- float t1 = a1*CV_8TO32F(ptr[i+srcstep]) + a0*CV_8TO32F(ptr[i + srcstep + cn]);
- dst[u*cn + i] = (uchar)cvRound(b1*t0 + b0*t1);
- }
- }
- else
- {
- for( i = 0; i < cn; i++ )
- dst[u*cn + i] = 0;
- }
- }
- }
-
- return CV_OK;
-}
-
-
-icvUndistortGetSize_t icvUndistortGetSize_p = 0;
-icvCreateMapCameraUndistort_32f_C1R_t icvCreateMapCameraUndistort_32f_C1R_p = 0;
-icvUndistortRadial_8u_C1R_t icvUndistortRadial_8u_C1R_p = 0;
-icvUndistortRadial_8u_C3R_t icvUndistortRadial_8u_C3R_p = 0;
-
-typedef CvStatus (CV_STDCALL * CvUndistortRadialIPPFunc)
- ( const void* pSrc, int srcStep, void* pDst, int dstStep, CvSize roiSize,
- float fx, float fy, float cx, float cy, float k1, float k2, uchar *pBuffer );
-
-CV_IMPL void
-cvUndistort2( const CvArr* _src, CvArr* _dst, const CvMat* A, const CvMat* dist_coeffs )
-{
- static int inittab = 0;
- uchar* buffer = 0;
-
- CV_FUNCNAME( "cvUndistort2" );
-
- __BEGIN__;
-
- float a[9], k[4];
- int coi1 = 0, coi2 = 0;
- CvMat srcstub, *src = (CvMat*)_src;
- CvMat dststub, *dst = (CvMat*)_dst;
- CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
- int cn, src_step, dst_step;
- CvSize size;
-
- if( !inittab )
- {
- icvInitLinearCoeffTab();
- icvInitCubicCoeffTab();
- inittab = 1;
- }
-
- CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
- CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
-
- if( coi1 != 0 || coi2 != 0 )
- CV_ERROR( CV_BadCOI, "The function does not support COI" );
-
- if( CV_MAT_DEPTH(src->type) != CV_8U )
- CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit images are supported" );
-
- if( src->data.ptr == dst->data.ptr )
- CV_ERROR( CV_StsNotImplemented, "In-place undistortion is not implemented" );
-
- if( !CV_ARE_TYPES_EQ( src, dst ))
- CV_ERROR( CV_StsUnmatchedFormats, "" );
-
- if( !CV_ARE_SIZES_EQ( src, dst ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
- CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
- CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
-
- if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
- dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
- CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
- CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
- CV_ERROR( CV_StsBadArg,
- "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
- cvConvert( A, &_a );
- _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
- CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
- cvConvert( dist_coeffs, &_k );
-
- cn = CV_MAT_CN(src->type);
- size = cvGetMatSize(src);
- src_step = src->step ? src->step : CV_STUB_STEP;
- dst_step = dst->step ? dst->step : CV_STUB_STEP;
-
- if( fabs((double)k[2]) < 1e-5 && fabs((double)k[3]) < 1e-5 && icvUndistortGetSize_p )
- {
- int buf_size = 0;
- CvUndistortRadialIPPFunc func =
- cn == 1 ? (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C1R_p :
- (CvUndistortRadialIPPFunc)icvUndistortRadial_8u_C3R_p;
-
- if( func && icvUndistortGetSize_p( size, &buf_size ) >= 0 && buf_size > 0 )
- {
- CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
- if( func( src->data.ptr, src_step, dst->data.ptr,
- dst_step, size, a[0], a[4],
- a[2], a[5], k[0], k[1], buffer ) >= 0 )
- EXIT;
- }
- }
-
- icvUnDistort_8u_CnR( src->data.ptr, src_step,
- dst->data.ptr, dst_step, size, a, k, cn );
-
- __END__;
-
- cvFree( &buffer );
-}
-
-
-CV_IMPL void
-cvInitUndistortMap( const CvMat* A, const CvMat* dist_coeffs,
- CvArr* mapxarr, CvArr* mapyarr )
-{
- uchar* buffer = 0;
-
- CV_FUNCNAME( "cvInitUndistortMap" );
-
- __BEGIN__;
-
- float a[9], k[4];
- int coi1 = 0, coi2 = 0;
- CvMat mapxstub, *_mapx = (CvMat*)mapxarr;
- CvMat mapystub, *_mapy = (CvMat*)mapyarr;
- float *mapx, *mapy;
- CvMat _a = cvMat( 3, 3, CV_32F, a ), _k;
- int mapxstep, mapystep;
- int u, v;
- float u0, v0, fx, fy, _fx, _fy, k1, k2, p1, p2;
- CvSize size;
-
- CV_CALL( _mapx = cvGetMat( _mapx, &mapxstub, &coi1 ));
- CV_CALL( _mapy = cvGetMat( _mapy, &mapystub, &coi2 ));
-
- if( coi1 != 0 || coi2 != 0 )
- CV_ERROR( CV_BadCOI, "The function does not support COI" );
-
- if( CV_MAT_TYPE(_mapx->type) != CV_32FC1 )
- CV_ERROR( CV_StsUnsupportedFormat, "Both maps must have 32fC1 type" );
-
- if( !CV_ARE_TYPES_EQ( _mapx, _mapy ))
- CV_ERROR( CV_StsUnmatchedFormats, "" );
-
- if( !CV_ARE_SIZES_EQ( _mapx, _mapy ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- if( !CV_IS_MAT(A) || A->rows != 3 || A->cols != 3 ||
- CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 )
- CV_ERROR( CV_StsBadArg, "Intrinsic matrix must be a valid 3x3 floating-point matrix" );
-
- if( !CV_IS_MAT(dist_coeffs) || dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
- dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 ||
- CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
- CV_MAT_DEPTH(dist_coeffs->type) != CV_32F )
- CV_ERROR( CV_StsBadArg,
- "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
- cvConvert( A, &_a );
- _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
- CV_MAKETYPE(CV_32F, CV_MAT_CN(dist_coeffs->type)), k );
- cvConvert( dist_coeffs, &_k );
-
- u0 = a[2]; v0 = a[5];
- fx = a[0]; fy = a[4];
- _fx = 1.f/fx; _fy = 1.f/fy;
- k1 = k[0]; k2 = k[1];
- p1 = k[2]; p2 = k[3];
-
- mapxstep = _mapx->step ? _mapx->step : CV_STUB_STEP;
- mapystep = _mapy->step ? _mapy->step : CV_STUB_STEP;
- mapx = _mapx->data.fl;
- mapy = _mapy->data.fl;
-
- size = cvGetMatSize(_mapx);
-
- /*if( icvUndistortGetSize_p && icvCreateMapCameraUndistort_32f_C1R_p )
- {
- int buf_size = 0;
- if( icvUndistortGetSize_p( size, &buf_size ) && buf_size > 0 )
- {
- CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
- if( icvCreateMapCameraUndistort_32f_C1R_p(
- mapx, mapxstep, mapy, mapystep, size,
- a[0], a[4], a[2], a[5], k[0], k[1], k[2], k[3], buffer ) >= 0 )
- EXIT;
- }
- }*/
-
- mapxstep /= sizeof(mapx[0]);
- mapystep /= sizeof(mapy[0]);
-
- for( v = 0; v < size.height; v++, mapx += mapxstep, mapy += mapystep )
- {
- float y = (v - v0)*_fy;
- float y2 = y*y;
- float _2p1y = 2*p1*y;
- float _3p1y2 = 3*p1*y2;
- float p2y2 = p2*y2;
-
- for( u = 0; u < size.width; u++ )
- {
- float x = (u - u0)*_fx;
- float x2 = x*x;
- float r2 = x2 + y2;
- float d = 1 + (k1 + k2*r2)*r2;
- float _u = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
- float _v = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
- mapx[u] = _u;
- mapy[u] = _v;
- }
- }
-
- __END__;
-
- cvFree( &buffer );
-}
-
-/* End of file */
projects / opencv / blobdiff