--- /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"
+
+
+CV_IMPL CvRect
+cvMaxRect( const CvRect* rect1, const CvRect* rect2 )
+{
+ if( rect1 && rect2 )
+ {
+ CvRect max_rect;
+ int a, b;
+
+ max_rect.x = a = rect1->x;
+ b = rect2->x;
+ if( max_rect.x > b )
+ max_rect.x = b;
+
+ max_rect.width = a += rect1->width;
+ b += rect2->width;
+
+ if( max_rect.width < b )
+ max_rect.width = b;
+ max_rect.width -= max_rect.x;
+
+ max_rect.y = a = rect1->y;
+ b = rect2->y;
+ if( max_rect.y > b )
+ max_rect.y = b;
+
+ max_rect.height = a += rect1->height;
+ b += rect2->height;
+
+ if( max_rect.height < b )
+ max_rect.height = b;
+ max_rect.height -= max_rect.y;
+ return max_rect;
+ }
+ else if( rect1 )
+ return *rect1;
+ else if( rect2 )
+ return *rect2;
+ else
+ return cvRect(0,0,0,0);
+}
+
+
+CV_IMPL void
+cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] )
+{
+ CV_FUNCNAME( "cvBoxPoints" );
+
+ __BEGIN__;
+
+ double angle = box.angle*CV_PI/180.;
+ float a = (float)cos(angle)*0.5f;
+ float b = (float)sin(angle)*0.5f;
+
+ if( !pt )
+ CV_ERROR( CV_StsNullPtr, "NULL vertex array pointer" );
+
+ pt[0].x = box.center.x - a*box.size.height - b*box.size.width;
+ pt[0].y = box.center.y + b*box.size.height - a*box.size.width;
+ pt[1].x = box.center.x + a*box.size.height - b*box.size.width;
+ pt[1].y = box.center.y - b*box.size.height - a*box.size.width;
+ pt[2].x = 2*box.center.x - pt[0].x;
+ pt[2].y = 2*box.center.y - pt[0].y;
+ pt[3].x = 2*box.center.x - pt[1].x;
+ pt[3].y = 2*box.center.y - pt[1].y;
+
+ __END__;
+}
+
+
+int
+icvIntersectLines( double x1, double dx1, double y1, double dy1,
+ double x2, double dx2, double y2, double dy2, double *t2 )
+{
+ double d = dx1 * dy2 - dx2 * dy1;
+ int result = -1;
+
+ if( d != 0 )
+ {
+ *t2 = ((x2 - x1) * dy1 - (y2 - y1) * dx1) / d;
+ result = 0;
+ }
+ return result;
+}
+
+
+void
+icvCreateCenterNormalLine( CvSubdiv2DEdge edge, double *_a, double *_b, double *_c )
+{
+ CvPoint2D32f org = cvSubdiv2DEdgeOrg( edge )->pt;
+ CvPoint2D32f dst = cvSubdiv2DEdgeDst( edge )->pt;
+
+ double a = dst.x - org.x;
+ double b = dst.y - org.y;
+ double c = -(a * (dst.x + org.x) + b * (dst.y + org.y));
+
+ *_a = a + a;
+ *_b = b + b;
+ *_c = c;
+}
+
+
+void
+icvIntersectLines3( double *a0, double *b0, double *c0,
+ double *a1, double *b1, double *c1, CvPoint2D32f * point )
+{
+ double det = a0[0] * b1[0] - a1[0] * b0[0];
+
+ if( det != 0 )
+ {
+ det = 1. / det;
+ point->x = (float) ((b0[0] * c1[0] - b1[0] * c0[0]) * det);
+ point->y = (float) ((a1[0] * c0[0] - a0[0] * c1[0]) * det);
+ }
+ else
+ {
+ point->x = point->y = FLT_MAX;
+ }
+}
+
+
+CV_IMPL double
+cvPointPolygonTest( const CvArr* _contour, CvPoint2D32f pt, int measure_dist )
+{
+ double result = 0;
+ CV_FUNCNAME( "cvCheckPointPolygon" );
+
+ __BEGIN__;
+
+ CvSeqBlock block;
+ CvContour header;
+ CvSeq* contour = (CvSeq*)_contour;
+ CvSeqReader reader;
+ int i, total, counter = 0;
+ int is_float;
+ double min_dist_num = FLT_MAX, min_dist_denom = 1;
+ CvPoint ip = {0,0};
+
+ if( !CV_IS_SEQ(contour) )
+ {
+ CV_CALL( contour = cvPointSeqFromMat( CV_SEQ_KIND_CURVE + CV_SEQ_FLAG_CLOSED,
+ _contour, &header, &block ));
+ }
+ else if( CV_IS_SEQ_POINT_SET(contour) )
+ {
+ if( contour->header_size == sizeof(CvContour) && !measure_dist )
+ {
+ CvRect r = ((CvContour*)contour)->rect;
+ if( pt.x < r.x || pt.y < r.y ||
+ pt.x >= r.x + r.width || pt.y >= r.y + r.height )
+ return -100;
+ }
+ }
+ else if( CV_IS_SEQ_CHAIN(contour) )
+ {
+ CV_ERROR( CV_StsBadArg,
+ "Chains are not supported. Convert them to polygonal representation using cvApproxChains()" );
+ }
+ else
+ CV_ERROR( CV_StsBadArg, "Input contour is neither a valid sequence nor a matrix" );
+
+ total = contour->total;
+ is_float = CV_SEQ_ELTYPE(contour) == CV_32FC2;
+ cvStartReadSeq( contour, &reader, -1 );
+
+ if( !is_float && !measure_dist && (ip.x = cvRound(pt.x)) == pt.x && (ip.y = cvRound(pt.y)) == pt.y )
+ {
+ // the fastest "pure integer" branch
+ CvPoint v0, v;
+ CV_READ_SEQ_ELEM( v, reader );
+
+ for( i = 0; i < total; i++ )
+ {
+ int dist;
+ v0 = v;
+ CV_READ_SEQ_ELEM( v, reader );
+
+ if( (v0.y <= ip.y && v.y <= ip.y) ||
+ (v0.y > ip.y && v.y > ip.y) ||
+ (v0.x < ip.x && v.x < ip.x) )
+ {
+ if( ip.y == v.y && (ip.x == v.x || (ip.y == v0.y &&
+ ((v0.x <= ip.x && ip.x <= v.x) || (v.x <= ip.x && ip.x <= v0.x)))) )
+ EXIT;
+ continue;
+ }
+
+ dist = (ip.y - v0.y)*(v.x - v0.x) - (ip.x - v0.x)*(v.y - v0.y);
+ if( dist == 0 )
+ EXIT;
+ if( v.y < v0.y )
+ dist = -dist;
+ counter += dist > 0;
+ }
+
+ result = counter % 2 == 0 ? -100 : 100;
+ }
+ else
+ {
+ CvPoint2D32f v0, v;
+ CvPoint iv;
+
+ if( is_float )
+ {
+ CV_READ_SEQ_ELEM( v, reader );
+ }
+ else
+ {
+ CV_READ_SEQ_ELEM( iv, reader );
+ v = cvPointTo32f( iv );
+ }
+
+ if( !measure_dist )
+ {
+ for( i = 0; i < total; i++ )
+ {
+ double dist;
+ v0 = v;
+ if( is_float )
+ {
+ CV_READ_SEQ_ELEM( v, reader );
+ }
+ else
+ {
+ CV_READ_SEQ_ELEM( iv, reader );
+ v = cvPointTo32f( iv );
+ }
+
+ if( (v0.y <= pt.y && v.y <= pt.y) ||
+ (v0.y > pt.y && v.y > pt.y) ||
+ (v0.x < pt.x && v.x < pt.x) )
+ {
+ if( pt.y == v.y && (pt.x == v.x || (pt.y == v0.y &&
+ ((v0.x <= pt.x && pt.x <= v.x) || (v.x <= pt.x && pt.x <= v0.x)))) )
+ EXIT;
+ continue;
+ }
+
+ dist = (double)(pt.y - v0.y)*(v.x - v0.x) - (double)(pt.x - v0.x)*(v.y - v0.y);
+ if( dist == 0 )
+ EXIT;
+ if( v.y < v0.y )
+ dist = -dist;
+ counter += dist > 0;
+ }
+
+ result = counter % 2 == 0 ? -100 : 100;
+ }
+ else
+ {
+ for( i = 0; i < total; i++ )
+ {
+ double dx, dy, dx1, dy1, dx2, dy2, dist_num, dist_denom = 1;
+
+ v0 = v;
+ if( is_float )
+ {
+ CV_READ_SEQ_ELEM( v, reader );
+ }
+ else
+ {
+ CV_READ_SEQ_ELEM( iv, reader );
+ v = cvPointTo32f( iv );
+ }
+
+ dx = v.x - v0.x; dy = v.y - v0.y;
+ dx1 = pt.x - v0.x; dy1 = pt.y - v0.y;
+ dx2 = pt.x - v.x; dy2 = pt.y - v.y;
+
+ if( dx1*dx + dy1*dy <= 0 )
+ dist_num = dx1*dx1 + dy1*dy1;
+ else if( dx2*dx + dy2*dy >= 0 )
+ dist_num = dx2*dx2 + dy2*dy2;
+ else
+ {
+ dist_num = (dy1*dx - dx1*dy);
+ dist_num *= dist_num;
+ dist_denom = dx*dx + dy*dy;
+ }
+
+ if( dist_num*min_dist_denom < min_dist_num*dist_denom )
+ {
+ min_dist_num = dist_num;
+ min_dist_denom = dist_denom;
+ if( min_dist_num == 0 )
+ break;
+ }
+
+ if( (v0.y <= pt.y && v.y <= pt.y) ||
+ (v0.y > pt.y && v.y > pt.y) ||
+ (v0.x < pt.x && v.x < pt.x) )
+ continue;
+
+ dist_num = dy1*dx - dx1*dy;
+ if( dy < 0 )
+ dist_num = -dist_num;
+ counter += dist_num > 0;
+ }
+
+ result = sqrt(min_dist_num/min_dist_denom);
+ if( counter % 2 == 0 )
+ result = -result;
+ }
+ }
+
+ __END__;
+
+ return result;
+}
+
+
+CV_IMPL void
+cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
+ CvMat *matrixQx, CvMat *matrixQy, CvMat *matrixQz,
+ CvPoint3D64f *eulerAngles)
+{
+ CV_FUNCNAME("cvRQDecomp3x3");
+ __BEGIN__;
+
+ double _M[3][3], _R[3][3], _Q[3][3];
+ CvMat M = cvMat(3, 3, CV_64F, _M);
+ CvMat R = cvMat(3, 3, CV_64F, _R);
+ CvMat Q = cvMat(3, 3, CV_64F, _Q);
+ double z, c, s;
+
+ /* Validate parameters. */
+ CV_ASSERT( CV_IS_MAT(matrixM) && CV_IS_MAT(matrixR) && CV_IS_MAT(matrixQ) &&
+ matrixM->cols == 3 && matrixM->rows == 3 &&
+ CV_ARE_SIZES_EQ(matrixM, matrixR) && CV_ARE_SIZES_EQ(matrixM, matrixQ));
+
+ cvConvert(matrixM, &M);
+
+ {
+ /* Find Givens rotation Q_x for x axis (left multiplication). */
+ /*
+ ( 1 0 0 )
+ Qx = ( 0 c s ), c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
+ ( 0 -s c )
+ */
+ s = _M[2][1];
+ c = _M[2][2];
+ z = 1./sqrt(c * c + s * s + DBL_EPSILON);
+ c *= z;
+ s *= z;
+
+ double _Qx[3][3] = { {1, 0, 0}, {0, c, s}, {0, -s, c} };
+ CvMat Qx = cvMat(3, 3, CV_64F, _Qx);
+
+ cvMatMul(&M, &Qx, &R);
+ assert(fabs(_R[2][1]) < FLT_EPSILON);
+ _R[2][1] = 0;
+
+ /* Find Givens rotation for y axis. */
+ /*
+ ( c 0 s )
+ Qy = ( 0 1 0 ), c = m33/sqrt(m31^2 + m33^2), s = m31/sqrt(m31^2 + m33^2)
+ (-s 0 c )
+ */
+ s = _R[2][0];
+ c = _R[2][2];
+ z = 1./sqrt(c * c + s * s + DBL_EPSILON);
+ c *= z;
+ s *= z;
+
+ double _Qy[3][3] = { {c, 0, s}, {0, 1, 0}, {-s, 0, c} };
+ CvMat Qy = cvMat(3, 3, CV_64F, _Qy);
+ cvMatMul(&R, &Qy, &M);
+
+ assert(fabs(_M[2][0]) < FLT_EPSILON);
+ _M[2][0] = 0;
+
+ /* Find Givens rotation for z axis. */
+ /*
+ ( c s 0 )
+ Qz = (-s c 0 ), c = m22/sqrt(m21^2 + m22^2), s = m21/sqrt(m21^2 + m22^2)
+ ( 0 0 1 )
+ */
+
+ s = _M[1][0];
+ c = _M[1][1];
+ z = 1./sqrt(c * c + s * s + DBL_EPSILON);
+ c *= z;
+ s *= z;
+
+ double _Qz[3][3] = { {c, s, 0}, {-s, c, 0}, {0, 0, 1} };
+ CvMat Qz = cvMat(3, 3, CV_64F, _Qz);
+
+ cvMatMul(&M, &Qz, &R);
+ assert(fabs(_R[1][0]) < FLT_EPSILON);
+ _R[1][0] = 0;
+
+ // Solve the decomposition ambiguity.
+ // Diagonal entries of R, except the last one, shall be positive.
+ // Further rotate R by 180 degree if necessary
+ if( _R[0][0] < 0 )
+ {
+ if( _R[1][1] < 0 )
+ {
+ // rotate around z for 180 degree, i.e. a rotation matrix of
+ // [-1, 0, 0],
+ // [ 0, -1, 0],
+ // [ 0, 0, 1]
+ _R[0][0] *= -1;
+ _R[0][1] *= -1;
+ _R[1][1] *= -1;
+
+ _Qz[0][0] *= -1;
+ _Qz[0][1] *= -1;
+ _Qz[1][0] *= -1;
+ _Qz[1][1] *= -1;
+ }
+ else
+ {
+ // rotate around y for 180 degree, i.e. a rotation matrix of
+ // [-1, 0, 0],
+ // [ 0, 1, 0],
+ // [ 0, 0, -1]
+ _R[0][0] *= -1;
+ _R[0][2] *= -1;
+ _R[1][2] *= -1;
+ _R[2][2] *= -1;
+
+ cvTranspose( &Qz, &Qz );
+
+ _Qy[0][0] *= -1;
+ _Qy[0][2] *= -1;
+ _Qy[2][0] *= -1;
+ _Qy[2][2] *= -1;
+ }
+ }
+ else if( _R[1][1] < 0 )
+ {
+ // ??? for some reason, we never get here ???
+
+ // rotate around x for 180 degree, i.e. a rotation matrix of
+ // [ 1, 0, 0],
+ // [ 0, -1, 0],
+ // [ 0, 0, -1]
+ _R[0][1] *= -1;
+ _R[0][2] *= -1;
+ _R[1][1] *= -1;
+ _R[1][2] *= -1;
+ _R[2][2] *= -1;
+
+ cvTranspose( &Qz, &Qz );
+ cvTranspose( &Qy, &Qy );
+
+ _Qx[1][1] *= -1;
+ _Qx[1][2] *= -1;
+ _Qx[2][1] *= -1;
+ _Qx[2][2] *= -1;
+ }
+
+ // calculate the euler angle
+ if( eulerAngles )
+ {
+ eulerAngles->x = acos(_Qx[1][1]) * (_Qx[1][2] >= 0 ? 1 : -1) * (180.0 / CV_PI);
+ eulerAngles->y = acos(_Qy[0][0]) * (_Qy[0][2] >= 0 ? 1 : -1) * (180.0 / CV_PI);
+ eulerAngles->z = acos(_Qz[0][0]) * (_Qz[0][1] >= 0 ? 1 : -1) * (180.0 / CV_PI);
+ }
+
+ /* Calulate orthogonal matrix. */
+ /*
+ Q = QzT * QyT * QxT
+ */
+ cvGEMM( &Qz, &Qy, 1, 0, 0, &M, CV_GEMM_A_T + CV_GEMM_B_T );
+ cvGEMM( &M, &Qx, 1, 0, 0, &Q, CV_GEMM_B_T );
+
+ /* Save R and Q matrices. */
+ cvConvert( &R, matrixR );
+ cvConvert( &Q, matrixQ );
+
+ if( matrixQx )
+ cvConvert(&Qx, matrixQx);
+ if( matrixQy )
+ cvConvert(&Qy, matrixQy);
+ if( matrixQz )
+ cvConvert(&Qz, matrixQz);
+ }
+
+ __END__;
+}
+
+
+CV_IMPL void
+cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
+ CvMat *rotMatr, CvMat *posVect,
+ CvMat *rotMatrX, CvMat *rotMatrY,
+ CvMat *rotMatrZ, CvPoint3D64f *eulerAngles)
+{
+ CvMat *tmpProjMatr = 0;
+ CvMat *tmpMatrixD = 0;
+ CvMat *tmpMatrixV = 0;
+ CvMat *tmpMatrixM = 0;
+
+ CV_FUNCNAME("cvDecomposeProjectionMatrix");
+ __BEGIN__;
+
+ /* Validate parameters. */
+ if(projMatr == 0 || calibMatr == 0 || rotMatr == 0 || posVect == 0)
+ CV_ERROR(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
+
+ if(!CV_IS_MAT(projMatr) || !CV_IS_MAT(calibMatr) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(posVect))
+ CV_ERROR(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
+
+ if(projMatr->cols != 4 || projMatr->rows != 3)
+ CV_ERROR(CV_StsUnmatchedSizes, "Size of projection matrix must be 3x4!");
+
+ if(calibMatr->cols != 3 || calibMatr->rows != 3 || rotMatr->cols != 3 || rotMatr->rows != 3)
+ CV_ERROR(CV_StsUnmatchedSizes, "Size of calibration and rotation matrices must be 3x3!");
+
+ if(posVect->cols != 1 || posVect->rows != 4)
+ CV_ERROR(CV_StsUnmatchedSizes, "Size of position vector must be 4x1!");
+
+ CV_CALL(tmpProjMatr = cvCreateMat(4, 4, CV_64F));
+ CV_CALL(tmpMatrixD = cvCreateMat(4, 4, CV_64F));
+ CV_CALL(tmpMatrixV = cvCreateMat(4, 4, CV_64F));
+ CV_CALL(tmpMatrixM = cvCreateMat(3, 3, CV_64F));
+
+ /* Compute position vector. */
+
+ cvSetZero(tmpProjMatr); // Add zero row to make matrix square.
+ int i, k;
+ for(i = 0; i < 3; i++)
+ for(k = 0; k < 4; k++)
+ cvmSet(tmpProjMatr, i, k, cvmGet(projMatr, i, k));
+
+ CV_CALL(cvSVD(tmpProjMatr, tmpMatrixD, NULL, tmpMatrixV, CV_SVD_MODIFY_A + CV_SVD_V_T));
+
+ /* Save position vector. */
+
+ for(i = 0; i < 4; i++)
+ cvmSet(posVect, i, 0, cvmGet(tmpMatrixV, 3, i)); // Solution is last row of V.
+
+ /* Compute calibration and rotation matrices via RQ decomposition. */
+
+ cvGetCols(projMatr, tmpMatrixM, 0, 3); // M is first square matrix of P.
+
+ assert(cvDet(tmpMatrixM) != 0.0); // So far only finite cameras could be decomposed, so M has to be nonsingular [det(M) != 0].
+
+ CV_CALL(cvRQDecomp3x3(tmpMatrixM, calibMatr, rotMatr, rotMatrX, rotMatrY, rotMatrZ, eulerAngles));
+
+ __END__;
+
+ cvReleaseMat(&tmpProjMatr);
+ cvReleaseMat(&tmpMatrixD);
+ cvReleaseMat(&tmpMatrixV);
+ cvReleaseMat(&tmpMatrixM);
+}
+
+namespace cv
+{
+
+void RQDecomp3x3( const Mat& M, Mat& R, Mat& Q )
+{
+ R.create(3, 3, M.type());
+ Q.create(3, 3, M.type());
+
+ CvMat _M = M, _R = R, _Q = Q;
+ cvRQDecomp3x3(&_M, &_R, &_Q, 0, 0, 0, 0);
+}
+
+Vec3d RQDecomp3x3( const Mat& M, Mat& R, Mat& Q,
+ Mat& Qx, Mat& Qy, Mat& Qz )
+{
+ R.create(3, 3, M.type());
+ Q.create(3, 3, M.type());
+ Vec3d eulerAngles;
+
+ CvMat _M = M, _R = R, _Q = Q, _Qx = Qx, _Qy = Qy, _Qz = Qz;
+ cvRQDecomp3x3(&_M, &_R, &_Q, &_Qx, &_Qy, &_Qz, (CvPoint3D64f*)&eulerAngles[0]);
+ return eulerAngles;
+}
+
+void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
+ Mat& rotMatrix, Mat& transVect )
+{
+ int type = projMatrix.type();
+ cameraMatrix.create(3, 3, type);
+ rotMatrix.create(3, 3, type);
+ transVect.create(3, 3, type);
+ CvMat _projMatrix = projMatrix, _cameraMatrix = cameraMatrix;
+ CvMat _rotMatrix = rotMatrix, _transVect = transVect;
+ cvDecomposeProjectionMatrix(&_projMatrix, &_cameraMatrix, &_rotMatrix,
+ &_transVect, 0, 0, 0, 0);
+}
+
+void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
+ Mat& rotMatrix, Mat& transVect,
+ Mat& rotMatrixX, Mat& rotMatrixY,
+ Mat& rotMatrixZ, Vec3d& eulerAngles )
+{
+ int type = projMatrix.type();
+ cameraMatrix.create(3, 3, type);
+ rotMatrix.create(3, 3, type);
+ transVect.create(3, 3, type);
+ rotMatrixX.create(3, 3, type);
+ rotMatrixY.create(3, 3, type);
+ rotMatrixZ.create(3, 3, type);
+ CvMat _projMatrix = projMatrix, _cameraMatrix = cameraMatrix;
+ CvMat _rotMatrix = rotMatrix, _transVect = transVect;
+ CvMat _rotMatrixX = rotMatrixX, _rotMatrixY = rotMatrixY;
+ CvMat _rotMatrixZ = rotMatrixZ;
+ cvDecomposeProjectionMatrix(&_projMatrix, &_cameraMatrix, &_rotMatrix,
+ &_transVect, &_rotMatrixX, &_rotMatrixY,
+ &_rotMatrixZ, (CvPoint3D64f*)&eulerAngles[0]);
+}
+
+}
+
+/* End of file. */
projects / opencv / blobdiff