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Diffstat (limited to 'extern/libmv/libmv/multiview/triangulation.cc')
-rw-r--r-- | extern/libmv/libmv/multiview/triangulation.cc | 50 |
1 files changed, 0 insertions, 50 deletions
diff --git a/extern/libmv/libmv/multiview/triangulation.cc b/extern/libmv/libmv/multiview/triangulation.cc deleted file mode 100644 index 4d146c8f21b..00000000000 --- a/extern/libmv/libmv/multiview/triangulation.cc +++ /dev/null @@ -1,50 +0,0 @@ -// Copyright (c) 2007, 2008 libmv authors. -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to -// deal in the Software without restriction, including without limitation the -// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -// sell copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS -// IN THE SOFTWARE. - -#include "libmv/multiview/triangulation.h" - -#include "libmv/numeric/numeric.h" -#include "libmv/multiview/projection.h" - -namespace libmv { - -// HZ 12.2 pag.312 -void TriangulateDLT(const Mat34 &P1, const Vec2 &x1, - const Mat34 &P2, const Vec2 &x2, - Vec4 *X_homogeneous) { - Mat4 design; - for (int i = 0; i < 4; ++i) { - design(0, i) = x1(0) * P1(2, i) - P1(0, i); - design(1, i) = x1(1) * P1(2, i) - P1(1, i); - design(2, i) = x2(0) * P2(2, i) - P2(0, i); - design(3, i) = x2(1) * P2(2, i) - P2(1, i); - } - Nullspace(&design, X_homogeneous); -} - -void TriangulateDLT(const Mat34 &P1, const Vec2 &x1, - const Mat34 &P2, const Vec2 &x2, - Vec3 *X_euclidean) { - Vec4 X_homogeneous; - TriangulateDLT(P1, x1, P2, x2, &X_homogeneous); - HomogeneousToEuclidean(X_homogeneous, X_euclidean); -} - -} // namespace libmv |