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
|
/*******************************************************
*
* Author: Takeshi Mita, Shinsaku Hiura, Hirokazu Kato
*
* tmita@inolab.sys.es.osaka-u.ac.jp
* shinsaku@sys.es.osaka-u.ac.jp
* kato@sys.im.hiroshima-cu.ac.jp
*
* Revision: 4.1
* Date: 01/12/07
*
*******************************************************/
#include <stdio.h>
#include <math.h>
#include <AR/param.h>
#include <AR/matrix.h>
static double norm( double a, double b, double c );
static double dot( double a1, double a2, double a3,
double b1, double b2, double b3 );
int arParamDecomp( ARParam *source, ARParam *icpara, double trans[3][4] )
{
icpara->xsize = source->xsize;
icpara->ysize = source->ysize;
icpara->dist_factor[0] = source->dist_factor[0];
icpara->dist_factor[1] = source->dist_factor[1];
icpara->dist_factor[2] = source->dist_factor[2];
icpara->dist_factor[3] = source->dist_factor[3];
return arParamDecompMat( source->mat, icpara->mat, trans );
}
int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )
{
int r, c;
double Cpara[3][4];
double rem1, rem2, rem3;
if( source[2][3] >= 0 ) {
for( r = 0; r < 3; r++ ){
for( c = 0; c < 4; c++ ){
Cpara[r][c] = source[r][c];
}
}
}
else {
for( r = 0; r < 3; r++ ){
for( c = 0; c < 4; c++ ){
Cpara[r][c] = -(source[r][c]);
}
}
}
for( r = 0; r < 3; r++ ){
for( c = 0; c < 4; c++ ){
cpara[r][c] = 0.0;
}
}
cpara[2][2] = norm( Cpara[2][0], Cpara[2][1], Cpara[2][2] );
trans[2][0] = Cpara[2][0] / cpara[2][2];
trans[2][1] = Cpara[2][1] / cpara[2][2];
trans[2][2] = Cpara[2][2] / cpara[2][2];
trans[2][3] = Cpara[2][3] / cpara[2][2];
cpara[1][2] = dot( trans[2][0], trans[2][1], trans[2][2],
Cpara[1][0], Cpara[1][1], Cpara[1][2] );
rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0];
rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1];
rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2];
cpara[1][1] = norm( rem1, rem2, rem3 );
trans[1][0] = rem1 / cpara[1][1];
trans[1][1] = rem2 / cpara[1][1];
trans[1][2] = rem3 / cpara[1][1];
cpara[0][2] = dot( trans[2][0], trans[2][1], trans[2][2],
Cpara[0][0], Cpara[0][1], Cpara[0][2] );
cpara[0][1] = dot( trans[1][0], trans[1][1], trans[1][2],
Cpara[0][0], Cpara[0][1], Cpara[0][2] );
rem1 = Cpara[0][0] - cpara[0][1]*trans[1][0] - cpara[0][2]*trans[2][0];
rem2 = Cpara[0][1] - cpara[0][1]*trans[1][1] - cpara[0][2]*trans[2][1];
rem3 = Cpara[0][2] - cpara[0][1]*trans[1][2] - cpara[0][2]*trans[2][2];
cpara[0][0] = norm( rem1, rem2, rem3 );
trans[0][0] = rem1 / cpara[0][0];
trans[0][1] = rem2 / cpara[0][0];
trans[0][2] = rem3 / cpara[0][0];
trans[1][3] = (Cpara[1][3] - cpara[1][2]*trans[2][3]) / cpara[1][1];
trans[0][3] = (Cpara[0][3] - cpara[0][1]*trans[1][3]
- cpara[0][2]*trans[2][3]) / cpara[0][0];
for( r = 0; r < 3; r++ ){
for( c = 0; c < 3; c++ ){
cpara[r][c] /= cpara[2][2];
}
}
return 0;
}
int arsParamGetMat( double matL[3][4], double matR[3][4],
double cparaL[3][4], double cparaR[3][4], double matL2R[3][4] )
{
ARMat *t1, *t2, *t3;
double transL[3][4], transR[3][4];
int i, j;
arParamDecompMat( matL, cparaL, transL );
arParamDecompMat( matR, cparaR, transR );
t1 = arMatrixAlloc( 4, 4 );
t2 = arMatrixAlloc( 4, 4 );
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ ) {
t1->m[j*4+i] = transL[j][i];
t2->m[j*4+i] = transR[j][i];
}
}
t1->m[12] = t1->m[13] = t1->m[14] = 0.0;
t1->m[15] = 1.0;
t2->m[12] = t2->m[13] = t2->m[14] = 0.0;
t2->m[15] = 1.0;
if( arMatrixSelfInv(t1) != 0 ) {
arMatrixFree( t1 );
arMatrixFree( t2 );
return -1;
}
t3 = arMatrixAllocMul(t2, t1);
if( t3 == NULL ) {
arMatrixFree( t1 );
arMatrixFree( t2 );
return -1;
}
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 4; i++ ) {
matL2R[j][i] = t3->m[j*4+i];
}
}
arMatrixFree( t1 );
arMatrixFree( t2 );
arMatrixFree( t3 );
return 0;
}
static double norm( double a, double b, double c )
{
return( sqrt( a*a + b*b + c*c ) );
}
static double dot( double a1, double a2, double a3,
double b1, double b2, double b3 )
{
return( a1 * b1 + a2 * b2 + a3 * b3 );
}
|
