593 lines
17 KiB
C++
593 lines
17 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "_cv.h"
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CV_IMPL CvRect
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cvMaxRect( const CvRect* rect1, const CvRect* rect2 )
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{
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if( rect1 && rect2 )
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{
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CvRect max_rect;
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int a, b;
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max_rect.x = a = rect1->x;
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b = rect2->x;
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if( max_rect.x > b )
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max_rect.x = b;
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max_rect.width = a += rect1->width;
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b += rect2->width;
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if( max_rect.width < b )
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max_rect.width = b;
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max_rect.width -= max_rect.x;
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max_rect.y = a = rect1->y;
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b = rect2->y;
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if( max_rect.y > b )
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max_rect.y = b;
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max_rect.height = a += rect1->height;
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b += rect2->height;
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if( max_rect.height < b )
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max_rect.height = b;
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max_rect.height -= max_rect.y;
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return max_rect;
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}
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else if( rect1 )
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return *rect1;
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else if( rect2 )
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return *rect2;
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else
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return cvRect(0,0,0,0);
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}
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CV_IMPL void
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cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] )
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{
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CV_FUNCNAME( "cvBoxPoints" );
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__BEGIN__;
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double angle = box.angle*CV_PI/180.;
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float a = (float)cos(angle)*0.5f;
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float b = (float)sin(angle)*0.5f;
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if( !pt )
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CV_ERROR( CV_StsNullPtr, "NULL vertex array pointer" );
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pt[0].x = box.center.x - a*box.size.height - b*box.size.width;
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pt[0].y = box.center.y + b*box.size.height - a*box.size.width;
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pt[1].x = box.center.x + a*box.size.height - b*box.size.width;
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pt[1].y = box.center.y - b*box.size.height - a*box.size.width;
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pt[2].x = 2*box.center.x - pt[0].x;
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pt[2].y = 2*box.center.y - pt[0].y;
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pt[3].x = 2*box.center.x - pt[1].x;
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pt[3].y = 2*box.center.y - pt[1].y;
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__END__;
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}
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int
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icvIntersectLines( double x1, double dx1, double y1, double dy1,
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double x2, double dx2, double y2, double dy2, double *t2 )
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{
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double d = dx1 * dy2 - dx2 * dy1;
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int result = -1;
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if( d != 0 )
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{
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*t2 = ((x2 - x1) * dy1 - (y2 - y1) * dx1) / d;
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result = 0;
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}
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return result;
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}
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void
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icvCreateCenterNormalLine( CvSubdiv2DEdge edge, double *_a, double *_b, double *_c )
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{
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CvPoint2D32f org = cvSubdiv2DEdgeOrg( edge )->pt;
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CvPoint2D32f dst = cvSubdiv2DEdgeDst( edge )->pt;
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double a = dst.x - org.x;
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double b = dst.y - org.y;
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double c = -(a * (dst.x + org.x) + b * (dst.y + org.y));
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*_a = a + a;
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*_b = b + b;
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*_c = c;
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}
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void
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icvIntersectLines3( double *a0, double *b0, double *c0,
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double *a1, double *b1, double *c1, CvPoint2D32f * point )
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{
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double det = a0[0] * b1[0] - a1[0] * b0[0];
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if( det != 0 )
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{
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det = 1. / det;
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point->x = (float) ((b0[0] * c1[0] - b1[0] * c0[0]) * det);
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point->y = (float) ((a1[0] * c0[0] - a0[0] * c1[0]) * det);
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}
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else
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{
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point->x = point->y = FLT_MAX;
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}
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}
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CV_IMPL double
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cvPointPolygonTest( const CvArr* _contour, CvPoint2D32f pt, int measure_dist )
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{
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double result = 0;
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CV_FUNCNAME( "cvCheckPointPolygon" );
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__BEGIN__;
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CvSeqBlock block;
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CvContour header;
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CvSeq* contour = (CvSeq*)_contour;
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CvSeqReader reader;
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int i, total, counter = 0;
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int is_float;
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double min_dist_num = FLT_MAX, min_dist_denom = 1;
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CvPoint ip = {0,0};
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if( !CV_IS_SEQ(contour) )
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{
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CV_CALL( contour = cvPointSeqFromMat( CV_SEQ_KIND_CURVE + CV_SEQ_FLAG_CLOSED,
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_contour, &header, &block ));
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}
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else if( CV_IS_SEQ_POLYGON(contour) )
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{
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if( contour->header_size == sizeof(CvContour) && !measure_dist )
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{
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CvRect r = ((CvContour*)contour)->rect;
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if( pt.x < r.x || pt.y < r.y ||
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pt.x >= r.x + r.width || pt.y >= r.y + r.height )
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return -100;
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}
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}
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else if( CV_IS_SEQ_CHAIN(contour) )
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{
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CV_ERROR( CV_StsBadArg,
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"Chains are not supported. Convert them to polygonal representation using cvApproxChains()" );
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}
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else
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CV_ERROR( CV_StsBadArg, "Input contour is neither a valid sequence nor a matrix" );
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total = contour->total;
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is_float = CV_SEQ_ELTYPE(contour) == CV_32FC2;
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cvStartReadSeq( contour, &reader, -1 );
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if( !is_float && !measure_dist && (ip.x = cvRound(pt.x)) == pt.x && (ip.y = cvRound(pt.y)) == pt.y )
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{
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// the fastest "pure integer" branch
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CvPoint v0, v;
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CV_READ_SEQ_ELEM( v, reader );
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for( i = 0; i < total; i++ )
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{
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int dist;
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v0 = v;
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CV_READ_SEQ_ELEM( v, reader );
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if( (v0.y <= ip.y && v.y <= ip.y) ||
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(v0.y > ip.y && v.y > ip.y) ||
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(v0.x < ip.x && v.x < ip.x) )
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{
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if( ip.y == v.y && (ip.x == v.x || (ip.y == v0.y &&
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((v0.x <= ip.x && ip.x <= v.x) || (v.x <= ip.x && ip.x <= v0.x)))) )
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EXIT;
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continue;
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}
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dist = (ip.y - v0.y)*(v.x - v0.x) - (ip.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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EXIT;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -100 : 100;
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}
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else
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{
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CvPoint2D32f v0, v;
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CvPoint iv;
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if( is_float )
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{
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CV_READ_SEQ_ELEM( v, reader );
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}
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else
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{
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CV_READ_SEQ_ELEM( iv, reader );
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v = cvPointTo32f( iv );
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}
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if( !measure_dist )
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{
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for( i = 0; i < total; i++ )
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{
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double dist;
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v0 = v;
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if( is_float )
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{
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CV_READ_SEQ_ELEM( v, reader );
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}
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else
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{
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CV_READ_SEQ_ELEM( iv, reader );
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v = cvPointTo32f( iv );
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}
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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{
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if( pt.y == v.y && (pt.x == v.x || (pt.y == v0.y &&
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((v0.x <= pt.x && pt.x <= v.x) || (v.x <= pt.x && pt.x <= v0.x)))) )
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EXIT;
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continue;
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}
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dist = (double)(pt.y - v0.y)*(v.x - v0.x) - (double)(pt.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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EXIT;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -100 : 100;
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}
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else
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{
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for( i = 0; i < total; i++ )
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{
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double dx, dy, dx1, dy1, dx2, dy2, dist_num, dist_denom = 1;
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v0 = v;
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if( is_float )
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{
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CV_READ_SEQ_ELEM( v, reader );
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}
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else
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{
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CV_READ_SEQ_ELEM( iv, reader );
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v = cvPointTo32f( iv );
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}
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dx = v.x - v0.x; dy = v.y - v0.y;
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dx1 = pt.x - v0.x; dy1 = pt.y - v0.y;
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dx2 = pt.x - v.x; dy2 = pt.y - v.y;
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if( dx1*dx + dy1*dy <= 0 )
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dist_num = dx1*dx1 + dy1*dy1;
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else if( dx2*dx + dy2*dy >= 0 )
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dist_num = dx2*dx2 + dy2*dy2;
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else
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{
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dist_num = (dy1*dx - dx1*dy);
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dist_num *= dist_num;
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dist_denom = dx*dx + dy*dy;
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}
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if( dist_num*min_dist_denom < min_dist_num*dist_denom )
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{
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min_dist_num = dist_num;
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min_dist_denom = dist_denom;
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if( min_dist_num == 0 )
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break;
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}
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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continue;
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dist_num = dy1*dx - dx1*dy;
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if( dy < 0 )
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dist_num = -dist_num;
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counter += dist_num > 0;
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}
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result = sqrt(min_dist_num/min_dist_denom);
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if( counter % 2 == 0 )
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result = -result;
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}
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}
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__END__;
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return result;
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}
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CV_IMPL void
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cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
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CvMat *matrixQx, CvMat *matrixQy, CvMat *matrixQz,
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CvPoint3D64f *eulerAngles)
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{
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CV_FUNCNAME("cvRQDecomp3x3");
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__BEGIN__;
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double _M[3][3], _R[3][3], _Q[3][3];
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CvMat M = cvMat(3, 3, CV_64F, _M);
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CvMat R = cvMat(3, 3, CV_64F, _R);
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CvMat Q = cvMat(3, 3, CV_64F, _Q);
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double z, c, s;
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/* Validate parameters. */
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CV_ASSERT( CV_IS_MAT(matrixM) && CV_IS_MAT(matrixR) && CV_IS_MAT(matrixQ) &&
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matrixM->cols == 3 && matrixM->rows == 3 &&
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CV_ARE_SIZES_EQ(matrixM, matrixR) && CV_ARE_SIZES_EQ(matrixM, matrixQ));
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cvConvert(matrixM, &M);
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{
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/* Find Givens rotation Q_x for x axis (left multiplication). */
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/*
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( 1 0 0 )
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Qx = ( 0 c s ), c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
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( 0 -s c )
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*/
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s = _M[2][1];
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c = _M[2][2];
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z = 1./sqrt(c * c + s * s + DBL_EPSILON);
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c *= z;
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s *= z;
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double _Qx[3][3] = { {1, 0, 0}, {0, c, s}, {0, -s, c} };
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CvMat Qx = cvMat(3, 3, CV_64F, _Qx);
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cvMatMul(&M, &Qx, &R);
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assert(fabs(_R[2][1]) < FLT_EPSILON);
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_R[2][1] = 0;
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/* Find Givens rotation for y axis. */
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/*
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( c 0 s )
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Qy = ( 0 1 0 ), c = m33/sqrt(m31^2 + m33^2), s = m31/sqrt(m31^2 + m33^2)
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(-s 0 c )
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*/
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s = _R[2][0];
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c = _R[2][2];
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z = 1./sqrt(c * c + s * s + DBL_EPSILON);
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c *= z;
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s *= z;
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double _Qy[3][3] = { {c, 0, s}, {0, 1, 0}, {-s, 0, c} };
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CvMat Qy = cvMat(3, 3, CV_64F, _Qy);
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cvMatMul(&R, &Qy, &M);
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assert(fabs(_M[2][0]) < FLT_EPSILON);
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_M[2][0] = 0;
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/* Find Givens rotation for z axis. */
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/*
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( c s 0 )
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Qz = (-s c 0 ), c = m22/sqrt(m21^2 + m22^2), s = m21/sqrt(m21^2 + m22^2)
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( 0 0 1 )
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*/
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s = _M[1][0];
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c = _M[1][1];
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z = 1./sqrt(c * c + s * s + DBL_EPSILON);
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c *= z;
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s *= z;
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double _Qz[3][3] = { {c, s, 0}, {-s, c, 0}, {0, 0, 1} };
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CvMat Qz = cvMat(3, 3, CV_64F, _Qz);
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cvMatMul(&M, &Qz, &R);
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assert(fabs(_R[1][0]) < FLT_EPSILON);
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_R[1][0] = 0;
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// Solve the decomposition ambiguity.
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// Diagonal entries of R, except the last one, shall be positive.
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// Further rotate R by 180 degree if necessary
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if( _R[0][0] < 0 )
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{
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if( _R[1][1] < 0 )
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{
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// rotate around z for 180 degree, i.e. a rotation matrix of
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// [-1, 0, 0],
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// [ 0, -1, 0],
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// [ 0, 0, 1]
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_R[0][0] *= -1;
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_R[0][1] *= -1;
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_R[1][1] *= -1;
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_Qz[0][0] *= -1;
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_Qz[0][1] *= -1;
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_Qz[1][0] *= -1;
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_Qz[1][1] *= -1;
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}
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else
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{
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// rotate around y for 180 degree, i.e. a rotation matrix of
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// [-1, 0, 0],
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// [ 0, 1, 0],
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// [ 0, 0, -1]
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_R[0][0] *= -1;
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_R[0][2] *= -1;
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_R[1][2] *= -1;
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_R[2][2] *= -1;
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cvTranspose( &Qz, &Qz );
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_Qy[0][0] *= -1;
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_Qy[0][2] *= -1;
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_Qy[2][0] *= -1;
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_Qy[2][2] *= -1;
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}
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}
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else if( _R[1][1] < 0 )
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{
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// ??? for some reason, we never get here ???
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// rotate around x for 180 degree, i.e. a rotation matrix of
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// [ 1, 0, 0],
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// [ 0, -1, 0],
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// [ 0, 0, -1]
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_R[0][1] *= -1;
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_R[0][2] *= -1;
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_R[1][1] *= -1;
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_R[1][2] *= -1;
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_R[2][2] *= -1;
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cvTranspose( &Qz, &Qz );
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cvTranspose( &Qy, &Qy );
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_Qx[1][1] *= -1;
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|
_Qx[1][2] *= -1;
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|
_Qx[2][1] *= -1;
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|
_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);
|
|
}
|
|
|
|
/* End of file. */
|