You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
151 lines
5.2 KiB
C++
151 lines
5.2 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
|
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
|
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
//
|
|
// * The name of the copyright holders may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
|
|
#ifndef OPENCV_CALIB3D_C_H
|
|
#define OPENCV_CALIB3D_C_H
|
|
|
|
#include "opencv2/core/types_c.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/* Calculates fundamental matrix given a set of corresponding points */
|
|
#define CV_FM_7POINT 1
|
|
#define CV_FM_8POINT 2
|
|
|
|
#define CV_LMEDS 4
|
|
#define CV_RANSAC 8
|
|
|
|
#define CV_FM_LMEDS_ONLY CV_LMEDS
|
|
#define CV_FM_RANSAC_ONLY CV_RANSAC
|
|
#define CV_FM_LMEDS CV_LMEDS
|
|
#define CV_FM_RANSAC CV_RANSAC
|
|
|
|
enum
|
|
{
|
|
CV_ITERATIVE = 0,
|
|
CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
|
|
CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
|
|
CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
|
|
};
|
|
|
|
#define CV_CALIB_CB_ADAPTIVE_THRESH 1
|
|
#define CV_CALIB_CB_NORMALIZE_IMAGE 2
|
|
#define CV_CALIB_CB_FILTER_QUADS 4
|
|
#define CV_CALIB_CB_FAST_CHECK 8
|
|
|
|
#define CV_CALIB_USE_INTRINSIC_GUESS 1
|
|
#define CV_CALIB_FIX_ASPECT_RATIO 2
|
|
#define CV_CALIB_FIX_PRINCIPAL_POINT 4
|
|
#define CV_CALIB_ZERO_TANGENT_DIST 8
|
|
#define CV_CALIB_FIX_FOCAL_LENGTH 16
|
|
#define CV_CALIB_FIX_K1 32
|
|
#define CV_CALIB_FIX_K2 64
|
|
#define CV_CALIB_FIX_K3 128
|
|
#define CV_CALIB_FIX_K4 2048
|
|
#define CV_CALIB_FIX_K5 4096
|
|
#define CV_CALIB_FIX_K6 8192
|
|
#define CV_CALIB_RATIONAL_MODEL 16384
|
|
#define CV_CALIB_THIN_PRISM_MODEL 32768
|
|
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
|
|
#define CV_CALIB_TILTED_MODEL 262144
|
|
#define CV_CALIB_FIX_TAUX_TAUY 524288
|
|
#define CV_CALIB_FIX_TANGENT_DIST 2097152
|
|
|
|
#define CV_CALIB_NINTRINSIC 18
|
|
|
|
#define CV_CALIB_FIX_INTRINSIC 256
|
|
#define CV_CALIB_SAME_FOCAL_LENGTH 512
|
|
|
|
#define CV_CALIB_ZERO_DISPARITY 1024
|
|
|
|
/* stereo correspondence parameters and functions */
|
|
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
|
|
#define CV_STEREO_BM_XSOBEL 1
|
|
|
|
#ifdef __cplusplus
|
|
} // extern "C"
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////
|
|
class CV_EXPORTS CvLevMarq
|
|
{
|
|
public:
|
|
CvLevMarq();
|
|
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
|
|
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
|
|
bool completeSymmFlag=false );
|
|
~CvLevMarq();
|
|
void init( int nparams, int nerrs, CvTermCriteria criteria=
|
|
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
|
|
bool completeSymmFlag=false );
|
|
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
|
|
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
|
|
|
|
void clear();
|
|
void step();
|
|
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
|
|
|
|
cv::Ptr<CvMat> mask;
|
|
cv::Ptr<CvMat> prevParam;
|
|
cv::Ptr<CvMat> param;
|
|
cv::Ptr<CvMat> J;
|
|
cv::Ptr<CvMat> err;
|
|
cv::Ptr<CvMat> JtJ;
|
|
cv::Ptr<CvMat> JtJN;
|
|
cv::Ptr<CvMat> JtErr;
|
|
cv::Ptr<CvMat> JtJV;
|
|
cv::Ptr<CvMat> JtJW;
|
|
double prevErrNorm, errNorm;
|
|
int lambdaLg10;
|
|
CvTermCriteria criteria;
|
|
int state;
|
|
int iters;
|
|
bool completeSymmFlag;
|
|
int solveMethod;
|
|
};
|
|
|
|
#endif
|
|
|
|
#endif /* OPENCV_CALIB3D_C_H */
|