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Tina5/tina-libs/tina/geometry/geomImg_rectify.c

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  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/geomImg_rectify.c,v $
 23  * Date    :  $Date: 2008/12/04 15:28:02 $
 24  * Version :  $Revision: 1.2 $
 25  * CVS Id  :  $Id: geomImg_rectify.c,v 1.2 2008/12/04 15:28:02 paul Exp $
 26  *
 27  * Author  : Simon Crossley / NAT 
 28  *
 29  * Notes :
 30  *
 31  *********
 32 */
 33 
 34 #include "geomImg_rectify.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/geomPro.h>
 47 #include <tina/image/imgDef.h>
 48 #include <tina/image/imgPro.h>
 49 
 50 /* 
 51     whole image rectification using sub pixel interpolation
 52 */
 53 
 54 static Imregion rectify_roi(Mat3 rec, Imregion *roi1)
 55 {
 56   Vec2 p1,p2,p3,p4;
 57   Vec3 w;
 58   Imregion roi2;
 59 
 60   vec2_x(p1) = (float)roi1->lx;
 61   vec2_y(p1) = (float)roi1->ly;
 62   w = proj3_of_vec2(p1);
 63   w = mat3_vprod(rec,w);
 64   p1 = proj2_of_vec3(w);
 65 
 66   vec2_x(p2) = (float)roi1->lx;
 67   vec2_y(p2) = (float)roi1->uy;
 68   w = proj3_of_vec2(p2);
 69   w = mat3_vprod(rec,w);
 70   p2 = proj2_of_vec3(w);
 71 
 72   vec2_x(p3) = (float)roi1->ux;
 73   vec2_y(p3) = (float)roi1->ly;
 74   w = proj3_of_vec2(p3);
 75   w = mat3_vprod(rec,w);
 76   p3 = proj2_of_vec3(w);
 77 
 78   vec2_x(p4) = (float)roi1->ux;
 79   vec2_y(p4) = (float)roi1->uy;
 80   w = proj3_of_vec2(p4);
 81   w = mat3_vprod(rec,w);
 82   p4 = proj2_of_vec3(w);
 83 
 84   if (vec2_x(p1)>vec2_x(p2)) roi2.lx = tina_rint(vec2_x(p1));
 85   else                       roi2.lx = tina_rint(vec2_x(p2));
 86 
 87   if (vec2_y(p1)>vec2_y(p3)) roi2.ly = tina_rint(vec2_y(p1));
 88   else                       roi2.ly = tina_rint(vec2_y(p3));
 89 
 90   if (vec2_x(p3)<vec2_x(p4)) roi2.ux = tina_rint(vec2_x(p3));
 91   else                       roi2.ux = tina_rint(vec2_x(p4));
 92 
 93   if (vec2_y(p2)<vec2_y(p4)) roi2.uy = tina_rint(vec2_y(p2));
 94   else                       roi2.uy = tina_rint(vec2_y(p4));
 95 
 96   /* Added to prevent compiler warning PAB 04/12/2008 */
 97   roi2.ts_id = Imregion_id;
 98 
 99   return(roi2);
100 }
101 
102 Imrect *imf_left_rectify(Imrect *im1, Imregion *roi, Parcam *pcam,
103                          double (*interp_func)(Imrect * image, float x,
104                                                float y, float *px, float *py))
105 {
106   Imrect *im2, *float_im;
107   Imregion *roi1, roi2;
108   float *row2;
109   int i, j;
110   float pdx, pdy;
111   Vec2 p;
112   Vec3 w;
113   Mat3 derec1;
114   Mat3 rec1;
115 
116   if (im1 == NULL)
117     return (NULL);
118 
119   if (im1->vtype != float_v)
120     float_im = im_cast(im1, float_v);
121   else 
122     float_im = im1;
123 
124   derec1 = pcam->derect1;
125   rec1 = pcam->rect1;
126   roi1 = float_im->region;
127   if (roi != NULL) roi1 = roi;
128 
129   roi2 = rectify_roi(rec1,roi1);
130 
131   im2 = im_alloc(float_im->height, float_im->width, &roi2, float_v);
132   row2 = fvector_alloc(roi2.lx, roi2.ux);
133 
134   for (i = roi2.ly; i < roi2.uy; ++i)
135     {
136       for (j = roi2.lx; j < roi2.ux; ++j)
137         {
138           vec2_y(p) = i+0.5;
139           vec2_x(p) = j+0.5;
140           w = proj3_of_vec2(p);
141           w = mat3_vprod(derec1,w);
142           p = proj2_of_vec3(w);
143           row2[j] = interp_func(float_im, vec2_x(p), vec2_y(p), &pdx, &pdy);
144           w = proj3_of_vec2(p);
145           w = mat3_vprod(rec1,w);
146           p = proj2_of_vec3(w);
147         }
148       im_put_rowf(row2, im2, i, roi2.lx, roi2.ux);
149     }
150 
151   if (im1->vtype != float_v)
152     im_free(float_im);
153 
154   fvector_free(row2, roi2.lx);
155   return (im2);
156 }
157 
158 Imrect *imf_right_rectify(Imrect *im1, Imregion* roi, Parcam *pcam,
159                           double (*interp_func)(Imrect * image, float x,
160                                                 float y, float *px, float *py))
161 {
162   Imrect *im2, *float_im;
163   Imregion *roi1, roi2;
164   float *row2;
165   int i, j;
166   float pdx, pdy;
167   Vec2 p;
168   Vec3 w;
169   Mat3 derec2;
170   Mat3 rec2;
171  
172   if (im1 == NULL)
173     return (NULL);
174  
175   if (im1->vtype != float_v)
176     float_im = im_cast(im1, float_v);
177   else 
178     float_im = im1;
179 
180   derec2 = pcam->derect2;
181   rec2 = pcam->rect2;
182   roi1 = float_im->region;
183   if (roi != NULL) roi1 = roi;
184 
185   roi2 = rectify_roi(rec2, roi1);
186  
187   im2 = im_alloc(float_im->height, float_im->width, &roi2, float_v);
188   row2 = fvector_alloc(roi2.lx, roi2.ux);
189 
190   for (i = roi2.ly; i < roi2.uy; ++i)
191     {
192       for (j = roi2.lx; j < roi2.ux; ++j)
193         {
194           vec2_y(p) = i+0.5;
195           vec2_x(p) = j+0.5;
196           w = proj3_of_vec2(p);
197           w = mat3_vprod(derec2,w);
198           p = proj2_of_vec3(w);
199           row2[j] = interp_func(float_im, vec2_x(p), vec2_y(p), &pdx, &pdy);
200         }
201       im_put_rowf(row2, im2, i, roi2.lx, roi2.ux);
202     }
203  
204   if (im1->vtype != float_v)
205     im_free(float_im);
206 
207   fvector_free(row2, roi2.lx);
208   return (im2);
209 }
210 
211 

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