1 /**********
2 *
3 * This file is part of the TINA Open Source Image Analysis Environment
4 * henceforth known as TINA
5 *
6 * TINA is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU Lesser General Public License as
8 * published by the Free Software Foundation.
9 *
10 * TINA is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU Lesser General Public License for more details.
14 *
15 * You should have received a copy of the GNU Lesser General Public License
16 * along with TINA; if not, write to the Free Software Foundation, Inc.,
17 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 *
19 **********
20 *
21 * Program : TINA
22 * File : $Source: /home/tina/cvs/tina-libs/tina/geometry/geomCam_dstrt.c,v $
23 * Date : $Date: 2002/12/09 11:51:23 $
24 * Version : $Revision: 1.1.1.1 $
25 * CVS Id : $Id: geomCam_dstrt.c,v 1.1.1.1 2002/12/09 11:51:23 cvstina Exp $
26 *
27 * Author : Legacy TINA
28 *
29 * Notes :
30 *
31 *********
32 */
33
34 #include "geomCam_dstrt.h"
35
36 #if HAVE_CONFIG_H
37 #include <config.h>
38 #endif
39
40 #include <math.h>
41 #include <tina/sys/sysDef.h>
42 #include <tina/sys/sysPro.h>
43 #include <tina/math/mathDef.h>
44 #include <tina/math/mathPro.h>
45 #include <tina/image/imgDef.h>
46 #include <tina/geometry/geomDef.h>
47 #include <tina/geometry/geom_CamDef.h>
48 #include <tina/geometry/geom_EdgeDef.h>
49 #include <tina/geometry/geom_EdgePro.h>
50 #include <tina/geometry/geomCam_rect.h>
51
52
53 Vec2 radial_distort(Vec2 w, double *a)
54 {
55 Vec2 v = {Vec2_id};
56 double radsq;
57
58 radsq = w.el[0] * w.el[0] + w.el[1] * w.el[1];
59 v.el[0] = (float)((1.0 - a[1] * radsq) * w.el[0]);
60 v.el[1] = (float)((1.0 - a[1] * radsq) * w.el[1]);
61 return (v);
62 }
63
64 Vec2 radial_correct(Vec2 w, double *a)
65 {
66 Vec2 v = {Vec2_id};
67 double radsq;
68
69 v.el[0] = w.el[0];
70 v.el[1] = w.el[1];
71
72 radsq = v.el[0] * v.el[0] + v.el[1] * v.el[1];
73 v.el[0] = (float)((1.0 + a[1] * radsq) * w.el[0]);
74 v.el[1] = (float)((1.0 + a[1] * radsq) * w.el[1]);
75
76 radsq = v.el[0] * v.el[0] + v.el[1] * v.el[1];
77 v.el[0] = (float)((1.0 + a[1] * radsq) * w.el[0]);
78 v.el[1] = (float)((1.0 + a[1] * radsq) * w.el[1]);
79 return (v);
80 }
81
82 Vec2 cam_correct(Vec2 u, Camera * cam)
83
84
85
86 /* this routine cannot be called with a NULL cam pointer */
87 {
88 if ((cam->correct_func != NULL) && (cam->distort_params != NULL))
89 {
90 /* change from image to unit camera coordinates */
91 u = rectify_pos(cam->im_to_cam, u);
92 /** allow for optical distortion **/
93 u = cam->correct_func(u, cam->distort_params);
94 /** change back to image coordinates **/
95 u = rectify_pos(cam->cam_to_im, u);
96 }
97 return (u);
98 }
99
100 void *cam_distort_copy(double *b)
101 {
102 int i, n;
103 double *a;
104
105 n = (int) (b[0] + 0.5);
106 a = (double *) ralloc((unsigned) (sizeof(double) * (n + 1)));
107 for (i = 0; i < n + 1; i++)
108 a[i] = b[i];
109 return(a);
110 }
111
112 /* ARGSUSED quieten lint */
113 void edge_apply_corr(Edgel * edge, int type, Camera * cam)
114
115 /* unused */
116
117 {
118 if (edge == NULL || cam == NULL || cam->correct_func == NULL || cam->distort_params == NULL)
119 return;
120 edge->type &= EDGE_SET_CORR_MASK;
121 edge->type |= EDGE_CORRECTED;
122 edge->pos = cam_correct(edge->pos, cam);
123 }
124
125 /* ARGSUSED quieten lint */
126 void edge_add_corr_prop(Edgel * edge, int type, Camera * cam)
127 {
128 Vec2 *r;
129
130 if (edge == NULL || cam == NULL || cam->correct_func == NULL || cam->distort_params == NULL)
131 return;
132 r = vec2_alloc();
133
134 *r = cam_correct(edge->pos, cam);
135 edge->props = proplist_addifnp(edge->props, (void *) r, CORRPOS, vec2_free, true);
136 }
137
138 void er_add_corrpos_prop(Imrect * er, Camera * cam)
139 {
140 er_apply_to_all_edges(er, edge_add_corr_prop, (void *) cam);
141 }
142
143 void er_correct(Imrect * er, Camera * cam)
144 {
145 er_apply_to_all_edges(er, edge_apply_corr, (void *) cam);
146 }
147
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