|
1 | | -/*M/////////////////////////////////////////////////////////////////////////////////////// |
2 | | -// |
3 | | -// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
4 | | -// |
5 | | -// By downloading, copying, installing or using the software you agree to this license. |
6 | | -// If you do not agree to this license, do not download, install, |
7 | | -// copy or use the software. |
8 | | -// |
9 | | -// |
10 | | -// License Agreement |
11 | | -// For Open Source Computer Vision Library |
12 | | -// |
13 | | -// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
14 | | -// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
15 | | -// Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
16 | | -// Third party copyrights are property of their respective owners. |
17 | | -// |
18 | | -// Redistribution and use in source and binary forms, with or without modification, |
19 | | -// are permitted provided that the following conditions are met: |
20 | | -// |
21 | | -// * Redistribution's of source code must retain the above copyright notice, |
22 | | -// this list of conditions and the following disclaimer. |
23 | | -// |
24 | | -// * Redistribution's in binary form must reproduce the above copyright notice, |
25 | | -// this list of conditions and the following disclaimer in the documentation |
26 | | -// and/or other materials provided with the distribution. |
27 | | -// |
28 | | -// * The name of the copyright holders may not be used to endorse or promote products |
29 | | -// derived from this software without specific prior written permission. |
30 | | -// |
31 | | -// This software is provided by the copyright holders and contributors "as is" and |
32 | | -// any express or implied warranties, including, but not limited to, the implied |
33 | | -// warranties of merchantability and fitness for a particular purpose are disclaimed. |
34 | | -// In no event shall the Intel Corporation or contributors be liable for any direct, |
35 | | -// indirect, incidental, special, exemplary, or consequential damages |
36 | | -// (including, but not limited to, procurement of substitute goods or services; |
37 | | -// loss of use, data, or profits; or business interruption) however caused |
38 | | -// and on any theory of liability, whether in contract, strict liability, |
39 | | -// or tort (including negligence or otherwise) arising in any way out of |
40 | | -// the use of this software, even if advised of the possibility of such damage. |
41 | | -// |
42 | | -//M*/ |
43 | | - |
44 | | -#ifndef OPENCV_CALIB3D_C_H |
45 | | -#define OPENCV_CALIB3D_C_H |
46 | | - |
47 | | -#include "opencv2/core/types_c.h" |
48 | | - |
49 | | -#ifdef __cplusplus |
50 | | -extern "C" { |
51 | | -#endif |
52 | | - |
53 | | -/* Calculates fundamental matrix given a set of corresponding points */ |
54 | | -#define CV_FM_7POINT 1 |
55 | | -#define CV_FM_8POINT 2 |
56 | | - |
57 | | -#define CV_LMEDS 4 |
58 | | -#define CV_RANSAC 8 |
59 | | - |
60 | | -#define CV_FM_LMEDS_ONLY CV_LMEDS |
61 | | -#define CV_FM_RANSAC_ONLY CV_RANSAC |
62 | | -#define CV_FM_LMEDS CV_LMEDS |
63 | | -#define CV_FM_RANSAC CV_RANSAC |
64 | | - |
65 | | -enum |
66 | | -{ |
67 | | - CV_ITERATIVE = 0, |
68 | | - CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" |
69 | | - CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem" |
70 | | - CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" |
71 | | -}; |
72 | | - |
73 | | -#define CV_CALIB_CB_ADAPTIVE_THRESH 1 |
74 | | -#define CV_CALIB_CB_NORMALIZE_IMAGE 2 |
75 | | -#define CV_CALIB_CB_FILTER_QUADS 4 |
76 | | -#define CV_CALIB_CB_FAST_CHECK 8 |
77 | | - |
78 | | -#define CV_CALIB_USE_INTRINSIC_GUESS 1 |
79 | | -#define CV_CALIB_FIX_ASPECT_RATIO 2 |
80 | | -#define CV_CALIB_FIX_PRINCIPAL_POINT 4 |
81 | | -#define CV_CALIB_ZERO_TANGENT_DIST 8 |
82 | | -#define CV_CALIB_FIX_FOCAL_LENGTH 16 |
83 | | -#define CV_CALIB_FIX_K1 32 |
84 | | -#define CV_CALIB_FIX_K2 64 |
85 | | -#define CV_CALIB_FIX_K3 128 |
86 | | -#define CV_CALIB_FIX_K4 2048 |
87 | | -#define CV_CALIB_FIX_K5 4096 |
88 | | -#define CV_CALIB_FIX_K6 8192 |
89 | | -#define CV_CALIB_RATIONAL_MODEL 16384 |
90 | | -#define CV_CALIB_THIN_PRISM_MODEL 32768 |
91 | | -#define CV_CALIB_FIX_S1_S2_S3_S4 65536 |
92 | | -#define CV_CALIB_TILTED_MODEL 262144 |
93 | | -#define CV_CALIB_FIX_TAUX_TAUY 524288 |
94 | | -#define CV_CALIB_FIX_TANGENT_DIST 2097152 |
95 | | - |
96 | | -#define CV_CALIB_NINTRINSIC 18 |
97 | | - |
98 | | -#define CV_CALIB_FIX_INTRINSIC 256 |
99 | | -#define CV_CALIB_SAME_FOCAL_LENGTH 512 |
100 | | - |
101 | | -#define CV_CALIB_ZERO_DISPARITY 1024 |
102 | | - |
103 | | -/* stereo correspondence parameters and functions */ |
104 | | -#define CV_STEREO_BM_NORMALIZED_RESPONSE 0 |
105 | | -#define CV_STEREO_BM_XSOBEL 1 |
106 | | - |
107 | | -#ifdef __cplusplus |
108 | | -} // extern "C" |
109 | | - |
110 | | -////////////////////////////////////////////////////////////////////////////////////////// |
111 | | -class CV_EXPORTS CvLevMarq |
112 | | -{ |
113 | | -public: |
114 | | - CvLevMarq(); |
115 | | - CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria= |
116 | | - cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
117 | | - bool completeSymmFlag=false ); |
118 | | - ~CvLevMarq(); |
119 | | - void init( int nparams, int nerrs, CvTermCriteria criteria= |
120 | | - cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
121 | | - bool completeSymmFlag=false ); |
122 | | - bool update( const CvMat*& param, CvMat*& J, CvMat*& err ); |
123 | | - bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm ); |
124 | | - |
125 | | - void clear(); |
126 | | - void step(); |
127 | | - enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 }; |
128 | | - |
129 | | - cv::Ptr<CvMat> mask; |
130 | | - cv::Ptr<CvMat> prevParam; |
131 | | - cv::Ptr<CvMat> param; |
132 | | - cv::Ptr<CvMat> J; |
133 | | - cv::Ptr<CvMat> err; |
134 | | - cv::Ptr<CvMat> JtJ; |
135 | | - cv::Ptr<CvMat> JtJN; |
136 | | - cv::Ptr<CvMat> JtErr; |
137 | | - cv::Ptr<CvMat> JtJV; |
138 | | - cv::Ptr<CvMat> JtJW; |
139 | | - double prevErrNorm, errNorm; |
140 | | - int lambdaLg10; |
141 | | - CvTermCriteria criteria; |
142 | | - int state; |
143 | | - int iters; |
144 | | - bool completeSymmFlag; |
145 | | - int solveMethod; |
146 | | -}; |
147 | | - |
148 | | -#endif |
149 | | - |
150 | | -#endif /* OPENCV_CALIB3D_C_H */ |
| 1 | +/*M/////////////////////////////////////////////////////////////////////////////////////// |
| 2 | +// |
| 3 | +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
| 4 | +// |
| 5 | +// By downloading, copying, installing or using the software you agree to this license. |
| 6 | +// If you do not agree to this license, do not download, install, |
| 7 | +// copy or use the software. |
| 8 | +// |
| 9 | +// |
| 10 | +// License Agreement |
| 11 | +// For Open Source Computer Vision Library |
| 12 | +// |
| 13 | +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
| 14 | +// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
| 15 | +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
| 16 | +// Third party copyrights are property of their respective owners. |
| 17 | +// |
| 18 | +// Redistribution and use in source and binary forms, with or without modification, |
| 19 | +// are permitted provided that the following conditions are met: |
| 20 | +// |
| 21 | +// * Redistribution's of source code must retain the above copyright notice, |
| 22 | +// this list of conditions and the following disclaimer. |
| 23 | +// |
| 24 | +// * Redistribution's in binary form must reproduce the above copyright notice, |
| 25 | +// this list of conditions and the following disclaimer in the documentation |
| 26 | +// and/or other materials provided with the distribution. |
| 27 | +// |
| 28 | +// * The name of the copyright holders may not be used to endorse or promote products |
| 29 | +// derived from this software without specific prior written permission. |
| 30 | +// |
| 31 | +// This software is provided by the copyright holders and contributors "as is" and |
| 32 | +// any express or implied warranties, including, but not limited to, the implied |
| 33 | +// warranties of merchantability and fitness for a particular purpose are disclaimed. |
| 34 | +// In no event shall the Intel Corporation or contributors be liable for any direct, |
| 35 | +// indirect, incidental, special, exemplary, or consequential damages |
| 36 | +// (including, but not limited to, procurement of substitute goods or services; |
| 37 | +// loss of use, data, or profits; or business interruption) however caused |
| 38 | +// and on any theory of liability, whether in contract, strict liability, |
| 39 | +// or tort (including negligence or otherwise) arising in any way out of |
| 40 | +// the use of this software, even if advised of the possibility of such damage. |
| 41 | +// |
| 42 | +//M*/ |
| 43 | + |
| 44 | +#ifndef OPENCV_CALIB3D_C_H |
| 45 | +#define OPENCV_CALIB3D_C_H |
| 46 | + |
| 47 | +#include "opencv2/core/types_c.h" |
| 48 | + |
| 49 | +#ifdef __cplusplus |
| 50 | +extern "C" { |
| 51 | +#endif |
| 52 | + |
| 53 | +/* Calculates fundamental matrix given a set of corresponding points */ |
| 54 | +#define CV_FM_7POINT 1 |
| 55 | +#define CV_FM_8POINT 2 |
| 56 | + |
| 57 | +#define CV_LMEDS 4 |
| 58 | +#define CV_RANSAC 8 |
| 59 | + |
| 60 | +#define CV_FM_LMEDS_ONLY CV_LMEDS |
| 61 | +#define CV_FM_RANSAC_ONLY CV_RANSAC |
| 62 | +#define CV_FM_LMEDS CV_LMEDS |
| 63 | +#define CV_FM_RANSAC CV_RANSAC |
| 64 | + |
| 65 | +enum |
| 66 | +{ |
| 67 | + CV_ITERATIVE = 0, |
| 68 | + CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" |
| 69 | + CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem" |
| 70 | + CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" |
| 71 | +}; |
| 72 | + |
| 73 | +#define CV_CALIB_CB_ADAPTIVE_THRESH 1 |
| 74 | +#define CV_CALIB_CB_NORMALIZE_IMAGE 2 |
| 75 | +#define CV_CALIB_CB_FILTER_QUADS 4 |
| 76 | +#define CV_CALIB_CB_FAST_CHECK 8 |
| 77 | + |
| 78 | +#define CV_CALIB_USE_INTRINSIC_GUESS 1 |
| 79 | +#define CV_CALIB_FIX_ASPECT_RATIO 2 |
| 80 | +#define CV_CALIB_FIX_PRINCIPAL_POINT 4 |
| 81 | +#define CV_CALIB_ZERO_TANGENT_DIST 8 |
| 82 | +#define CV_CALIB_FIX_FOCAL_LENGTH 16 |
| 83 | +#define CV_CALIB_FIX_K1 32 |
| 84 | +#define CV_CALIB_FIX_K2 64 |
| 85 | +#define CV_CALIB_FIX_K3 128 |
| 86 | +#define CV_CALIB_FIX_K4 2048 |
| 87 | +#define CV_CALIB_FIX_K5 4096 |
| 88 | +#define CV_CALIB_FIX_K6 8192 |
| 89 | +#define CV_CALIB_RATIONAL_MODEL 16384 |
| 90 | +#define CV_CALIB_THIN_PRISM_MODEL 32768 |
| 91 | +#define CV_CALIB_FIX_S1_S2_S3_S4 65536 |
| 92 | +#define CV_CALIB_TILTED_MODEL 262144 |
| 93 | +#define CV_CALIB_FIX_TAUX_TAUY 524288 |
| 94 | +#define CV_CALIB_FIX_TANGENT_DIST 2097152 |
| 95 | + |
| 96 | +#define CV_CALIB_NINTRINSIC 18 |
| 97 | + |
| 98 | +#define CV_CALIB_FIX_INTRINSIC 256 |
| 99 | +#define CV_CALIB_SAME_FOCAL_LENGTH 512 |
| 100 | + |
| 101 | +#define CV_CALIB_ZERO_DISPARITY 1024 |
| 102 | + |
| 103 | +/* stereo correspondence parameters and functions */ |
| 104 | +#define CV_STEREO_BM_NORMALIZED_RESPONSE 0 |
| 105 | +#define CV_STEREO_BM_XSOBEL 1 |
| 106 | + |
| 107 | +#ifdef __cplusplus |
| 108 | +} // extern "C" |
| 109 | + |
| 110 | +////////////////////////////////////////////////////////////////////////////////////////// |
| 111 | +class CV_EXPORTS CvLevMarq |
| 112 | +{ |
| 113 | +public: |
| 114 | + CvLevMarq(); |
| 115 | + CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria= |
| 116 | + cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
| 117 | + bool completeSymmFlag=false ); |
| 118 | + ~CvLevMarq(); |
| 119 | + void init( int nparams, int nerrs, CvTermCriteria criteria= |
| 120 | + cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
| 121 | + bool completeSymmFlag=false ); |
| 122 | + bool update( const CvMat*& param, CvMat*& J, CvMat*& err ); |
| 123 | + bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm ); |
| 124 | + |
| 125 | + void clear(); |
| 126 | + void step(); |
| 127 | + enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 }; |
| 128 | + |
| 129 | + cv::Ptr<CvMat> mask; |
| 130 | + cv::Ptr<CvMat> prevParam; |
| 131 | + cv::Ptr<CvMat> param; |
| 132 | + cv::Ptr<CvMat> J; |
| 133 | + cv::Ptr<CvMat> err; |
| 134 | + cv::Ptr<CvMat> JtJ; |
| 135 | + cv::Ptr<CvMat> JtJN; |
| 136 | + cv::Ptr<CvMat> JtErr; |
| 137 | + cv::Ptr<CvMat> JtJV; |
| 138 | + cv::Ptr<CvMat> JtJW; |
| 139 | + double prevErrNorm, errNorm; |
| 140 | + int lambdaLg10; |
| 141 | + CvTermCriteria criteria; |
| 142 | + int state; |
| 143 | + int iters; |
| 144 | + bool completeSymmFlag; |
| 145 | + int solveMethod; |
| 146 | +}; |
| 147 | + |
| 148 | +#endif |
| 149 | + |
| 150 | +#endif /* OPENCV_CALIB3D_C_H */ |
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