QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00024 
00025 #include <QVEuclideanMapping3>
00026 
00027 #include <qvprojective.h>
00028 QVEuclideanMapping3::QVEuclideanMapping3(const QVMatrix &Rt)
00029         {
00030         // 1. Ensure that the rotation matrix is an orthogonal basis. This is: det(R) = 1.
00031         // 1.1. Ensure that Rt^t*Rt = I
00032         QVMatrix refinedRt = refineExtrinsicCameraMatrixWithPolarDecomposition(Rt);
00033 
00034         // 1.2. Still, det(R) can be <= 0. Warn the user and try to fix it up in that case.
00035         const double determinantR = determinant(refinedRt.getSubmatrix(0,2,0,2));
00036         if (determinantR == 0.0)
00037                 std::cout << "[QVEuclideanMapping3::QVEuclideanMapping3] Warning: determinant of the rotation matrix in the provided camera matrix is equal to zero." << std::endl;
00038         else if (determinantR < 0.0)
00039                 //{
00040                 //std::cout << "[QVEuclideanMapping3::QVEuclideanMapping3] Warning: determinant of the rotation matrix in the provided camera matrix is lesser than zero." << std::endl;
00041                 refinedRt = refinedRt * (-1);
00042                 //}
00043 
00044         // 2. Get Quaterion and translation vector from the refined Rt.
00045         q = refinedRt.getSubmatrix(0,2,0,2);
00046         t = QV3DPointF(refinedRt(0,3), refinedRt(1,3), refinedRt(2,3));
00047         }
00048
src/qvmath/qveuclideanmapping3.cpp
