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_rect.c,v $
23 * Date : $Date: 2005/01/09 17:49:25 $
24 * Version : $Revision: 1.2 $
25 * CVS Id : $Id: geomCam_rect.c,v 1.2 2005/01/09 17:49:25 paul Exp $
26 *
27 * Author : Legacy TINA
28 *
29 * Notes : general rectification function
30 *
31 *********
32 */
33
34 #include "geomCam_rect.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/geometry/geomDef.h>
46 #include <tina/geometry/geom_EdgeDef.h>
47 #include <tina/geometry/geom_EdgePro.h>
48
49
50 Vec2 rectify_pos(Mat3 rect, Vec2 p)
51 {
52 Vec3 w = {Vec3_id};
53
54 w = proj3_of_vec2(p);
55 w = mat3_vprod(rect, w);
56 return (proj2_of_vec3(w));
57 }
58
59 double rectify_orient(Mat3 rect, Vec2 p, double or)
60
61 /* position */
62 /* orientation in radians */
63 {
64 Vec2 md = {Vec2_id};
65 Vec2 pd = {Vec2_id}; /* pos minus delta and plus delta */
66 float s = (float)sin(or), c = (float)cos(or);
67
68 pd = rectify_pos(rect, vec2(vec2_x(p) + c, vec2_y(p) + s));
69 md = rectify_pos(rect, vec2(vec2_x(p) - c, vec2_y(p) - s));
70
71 p = vec2_diff(pd, md);
72 return (atan2(vec2_y(p), vec2_x(p)));
73 }
74
75 void rectify_pos_and_dir(Mat3 rect, Vec2 * p, Vec2 * v)
76
77 /* position and direction */
78 {
79 Vec2 q = {Vec2_id};
80
81 q = vec2_sum(*p, *v);
82 *p = rectify_pos(rect, *p);
83 q = rectify_pos(rect, q);
84 *v = vec2_unit(vec2_diff(q, *p));
85 }
86
87 /* ARGSUSED quieten lint */
88 void edge_apply_rect(Edgel * edge, int type, Mat3 * rect)
89
90 /* unused */
91
92 {
93 if (edge == NULL || rect == NULL)
94 return;
95
96 edge->type &= EDGE_SET_RECT_MASK;
97 edge->type |= EDGE_RECTIFIED;
98 edge->pos = rectify_pos(*rect, edge->pos);
99 edge->orient = (float)rectify_orient(*rect, edge->pos, edge->orient);
100 }
101
102 /* ARGSUSED quieten lint */
103 void edge_apply_derect(Edgel * edge, int type, Mat3 * rect)
104
105 /* unused */
106
107 {
108 if (edge == NULL || rect == NULL)
109 return;
110
111 edge->type &= EDGE_SET_RECT_MASK;
112 edge->type |= EDGE_NOT_RECTIFIED;
113 edge->pos = rectify_pos(*rect, edge->pos);
114 edge->orient = (float)rectify_orient(*rect, edge->pos, edge->orient);
115 }
116
117 /* ARGSUSED quieten lint */
118 void edge_add_rect_prop(Edgel * edge, int type, Mat3 * rect)
119
120 /* unused */
121
122 {
123 Vec2 *r;
124
125 if (edge == NULL)
126 return;
127
128 r = vec2_alloc();
129 *r = rectify_pos(*rect, edge->pos);
130 edge->props = proplist_addifnp(edge->props, (void *) r, RECTPOS, vec2_free, true);
131 }
132
133 void er_add_rectpos_prop(Imrect * er, Mat3 rect)
134 {
135 er_apply_to_all_edges(er, edge_add_rect_prop, (void *) &rect);
136 }
137
138 void er_rectify(Imrect * er, Mat3 rect)
139 {
140 er_apply_to_all_edges(er, edge_apply_rect, (void *) &rect);
141 }
142
143 void er_derectify(Imrect * er, Mat3 rect)
144 {
145 er_apply_to_all_edges(er, edge_apply_derect, (void *) &rect);
146 }
147
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