Joe Verbout
opencv on mbed
opencv2/calib3d/calib3d_c.h@0:ea44dc9ed014, 2016-03-31 (annotated)
- Committer:
- joeverbout
- Date:
- Thu Mar 31 21:16:38 2016 +0000
- Revision:
- 0:ea44dc9ed014
OpenCV on mbed attempt
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| joeverbout | 0:ea44dc9ed014 | 1 | /*M/////////////////////////////////////////////////////////////////////////////////////// |
| joeverbout | 0:ea44dc9ed014 | 2 | // |
| joeverbout | 0:ea44dc9ed014 | 3 | // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
| joeverbout | 0:ea44dc9ed014 | 4 | // |
| joeverbout | 0:ea44dc9ed014 | 5 | // By downloading, copying, installing or using the software you agree to this license. |
| joeverbout | 0:ea44dc9ed014 | 6 | // If you do not agree to this license, do not download, install, |
| joeverbout | 0:ea44dc9ed014 | 7 | // copy or use the software. |
| joeverbout | 0:ea44dc9ed014 | 8 | // |
| joeverbout | 0:ea44dc9ed014 | 9 | // |
| joeverbout | 0:ea44dc9ed014 | 10 | // License Agreement |
| joeverbout | 0:ea44dc9ed014 | 11 | // For Open Source Computer Vision Library |
| joeverbout | 0:ea44dc9ed014 | 12 | // |
| joeverbout | 0:ea44dc9ed014 | 13 | // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
| joeverbout | 0:ea44dc9ed014 | 14 | // Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
| joeverbout | 0:ea44dc9ed014 | 15 | // Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
| joeverbout | 0:ea44dc9ed014 | 16 | // Third party copyrights are property of their respective owners. |
| joeverbout | 0:ea44dc9ed014 | 17 | // |
| joeverbout | 0:ea44dc9ed014 | 18 | // Redistribution and use in source and binary forms, with or without modification, |
| joeverbout | 0:ea44dc9ed014 | 19 | // are permitted provided that the following conditions are met: |
| joeverbout | 0:ea44dc9ed014 | 20 | // |
| joeverbout | 0:ea44dc9ed014 | 21 | // * Redistribution's of source code must retain the above copyright notice, |
| joeverbout | 0:ea44dc9ed014 | 22 | // this list of conditions and the following disclaimer. |
| joeverbout | 0:ea44dc9ed014 | 23 | // |
| joeverbout | 0:ea44dc9ed014 | 24 | // * Redistribution's in binary form must reproduce the above copyright notice, |
| joeverbout | 0:ea44dc9ed014 | 25 | // this list of conditions and the following disclaimer in the documentation |
| joeverbout | 0:ea44dc9ed014 | 26 | // and/or other materials provided with the distribution. |
| joeverbout | 0:ea44dc9ed014 | 27 | // |
| joeverbout | 0:ea44dc9ed014 | 28 | // * The name of the copyright holders may not be used to endorse or promote products |
| joeverbout | 0:ea44dc9ed014 | 29 | // derived from this software without specific prior written permission. |
| joeverbout | 0:ea44dc9ed014 | 30 | // |
| joeverbout | 0:ea44dc9ed014 | 31 | // This software is provided by the copyright holders and contributors "as is" and |
| joeverbout | 0:ea44dc9ed014 | 32 | // any express or implied warranties, including, but not limited to, the implied |
| joeverbout | 0:ea44dc9ed014 | 33 | // warranties of merchantability and fitness for a particular purpose are disclaimed. |
| joeverbout | 0:ea44dc9ed014 | 34 | // In no event shall the Intel Corporation or contributors be liable for any direct, |
| joeverbout | 0:ea44dc9ed014 | 35 | // indirect, incidental, special, exemplary, or consequential damages |
| joeverbout | 0:ea44dc9ed014 | 36 | // (including, but not limited to, procurement of substitute goods or services; |
| joeverbout | 0:ea44dc9ed014 | 37 | // loss of use, data, or profits; or business interruption) however caused |
| joeverbout | 0:ea44dc9ed014 | 38 | // and on any theory of liability, whether in contract, strict liability, |
| joeverbout | 0:ea44dc9ed014 | 39 | // or tort (including negligence or otherwise) arising in any way out of |
| joeverbout | 0:ea44dc9ed014 | 40 | // the use of this software, even if advised of the possibility of such damage. |
| joeverbout | 0:ea44dc9ed014 | 41 | // |
| joeverbout | 0:ea44dc9ed014 | 42 | //M*/ |
| joeverbout | 0:ea44dc9ed014 | 43 | |
| joeverbout | 0:ea44dc9ed014 | 44 | #ifndef __OPENCV_CALIB3D_C_H__ |
| joeverbout | 0:ea44dc9ed014 | 45 | #define __OPENCV_CALIB3D_C_H__ |
| joeverbout | 0:ea44dc9ed014 | 46 | |
| joeverbout | 0:ea44dc9ed014 | 47 | #include "opencv2/core/core_c.h" |
| joeverbout | 0:ea44dc9ed014 | 48 | |
| joeverbout | 0:ea44dc9ed014 | 49 | #ifdef __cplusplus |
| joeverbout | 0:ea44dc9ed014 | 50 | extern "C" { |
| joeverbout | 0:ea44dc9ed014 | 51 | #endif |
| joeverbout | 0:ea44dc9ed014 | 52 | |
| joeverbout | 0:ea44dc9ed014 | 53 | /** @addtogroup calib3d_c |
| joeverbout | 0:ea44dc9ed014 | 54 | @{ |
| joeverbout | 0:ea44dc9ed014 | 55 | */ |
| joeverbout | 0:ea44dc9ed014 | 56 | |
| joeverbout | 0:ea44dc9ed014 | 57 | /****************************************************************************************\ |
| joeverbout | 0:ea44dc9ed014 | 58 | * Camera Calibration, Pose Estimation and Stereo * |
| joeverbout | 0:ea44dc9ed014 | 59 | \****************************************************************************************/ |
| joeverbout | 0:ea44dc9ed014 | 60 | |
| joeverbout | 0:ea44dc9ed014 | 61 | typedef struct CvPOSITObject CvPOSITObject; |
| joeverbout | 0:ea44dc9ed014 | 62 | |
| joeverbout | 0:ea44dc9ed014 | 63 | /* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */ |
| joeverbout | 0:ea44dc9ed014 | 64 | CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count ); |
| joeverbout | 0:ea44dc9ed014 | 65 | |
| joeverbout | 0:ea44dc9ed014 | 66 | |
| joeverbout | 0:ea44dc9ed014 | 67 | /* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of |
| joeverbout | 0:ea44dc9ed014 | 68 | an object given its model and projection in a weak-perspective case */ |
| joeverbout | 0:ea44dc9ed014 | 69 | CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points, |
| joeverbout | 0:ea44dc9ed014 | 70 | double focal_length, CvTermCriteria criteria, |
| joeverbout | 0:ea44dc9ed014 | 71 | float* rotation_matrix, float* translation_vector); |
| joeverbout | 0:ea44dc9ed014 | 72 | |
| joeverbout | 0:ea44dc9ed014 | 73 | /* Releases CvPOSITObject structure */ |
| joeverbout | 0:ea44dc9ed014 | 74 | CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object ); |
| joeverbout | 0:ea44dc9ed014 | 75 | |
| joeverbout | 0:ea44dc9ed014 | 76 | /* updates the number of RANSAC iterations */ |
| joeverbout | 0:ea44dc9ed014 | 77 | CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob, |
| joeverbout | 0:ea44dc9ed014 | 78 | int model_points, int max_iters ); |
| joeverbout | 0:ea44dc9ed014 | 79 | |
| joeverbout | 0:ea44dc9ed014 | 80 | CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst ); |
| joeverbout | 0:ea44dc9ed014 | 81 | |
| joeverbout | 0:ea44dc9ed014 | 82 | /* Calculates fundamental matrix given a set of corresponding points */ |
| joeverbout | 0:ea44dc9ed014 | 83 | #define CV_FM_7POINT 1 |
| joeverbout | 0:ea44dc9ed014 | 84 | #define CV_FM_8POINT 2 |
| joeverbout | 0:ea44dc9ed014 | 85 | |
| joeverbout | 0:ea44dc9ed014 | 86 | #define CV_LMEDS 4 |
| joeverbout | 0:ea44dc9ed014 | 87 | #define CV_RANSAC 8 |
| joeverbout | 0:ea44dc9ed014 | 88 | |
| joeverbout | 0:ea44dc9ed014 | 89 | #define CV_FM_LMEDS_ONLY CV_LMEDS |
| joeverbout | 0:ea44dc9ed014 | 90 | #define CV_FM_RANSAC_ONLY CV_RANSAC |
| joeverbout | 0:ea44dc9ed014 | 91 | #define CV_FM_LMEDS CV_LMEDS |
| joeverbout | 0:ea44dc9ed014 | 92 | #define CV_FM_RANSAC CV_RANSAC |
| joeverbout | 0:ea44dc9ed014 | 93 | |
| joeverbout | 0:ea44dc9ed014 | 94 | enum |
| joeverbout | 0:ea44dc9ed014 | 95 | { |
| joeverbout | 0:ea44dc9ed014 | 96 | CV_ITERATIVE = 0, |
| joeverbout | 0:ea44dc9ed014 | 97 | CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" |
| joeverbout | 0:ea44dc9ed014 | 98 | CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem" |
| joeverbout | 0:ea44dc9ed014 | 99 | CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" |
| joeverbout | 0:ea44dc9ed014 | 100 | }; |
| joeverbout | 0:ea44dc9ed014 | 101 | |
| joeverbout | 0:ea44dc9ed014 | 102 | CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2, |
| joeverbout | 0:ea44dc9ed014 | 103 | CvMat* fundamental_matrix, |
| joeverbout | 0:ea44dc9ed014 | 104 | int method CV_DEFAULT(CV_FM_RANSAC), |
| joeverbout | 0:ea44dc9ed014 | 105 | double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99), |
| joeverbout | 0:ea44dc9ed014 | 106 | CvMat* status CV_DEFAULT(NULL) ); |
| joeverbout | 0:ea44dc9ed014 | 107 | |
| joeverbout | 0:ea44dc9ed014 | 108 | /* For each input point on one of images |
| joeverbout | 0:ea44dc9ed014 | 109 | computes parameters of the corresponding |
| joeverbout | 0:ea44dc9ed014 | 110 | epipolar line on the other image */ |
| joeverbout | 0:ea44dc9ed014 | 111 | CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points, |
| joeverbout | 0:ea44dc9ed014 | 112 | int which_image, |
| joeverbout | 0:ea44dc9ed014 | 113 | const CvMat* fundamental_matrix, |
| joeverbout | 0:ea44dc9ed014 | 114 | CvMat* correspondent_lines ); |
| joeverbout | 0:ea44dc9ed014 | 115 | |
| joeverbout | 0:ea44dc9ed014 | 116 | /* Triangulation functions */ |
| joeverbout | 0:ea44dc9ed014 | 117 | |
| joeverbout | 0:ea44dc9ed014 | 118 | CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, |
| joeverbout | 0:ea44dc9ed014 | 119 | CvMat* projPoints1, CvMat* projPoints2, |
| joeverbout | 0:ea44dc9ed014 | 120 | CvMat* points4D); |
| joeverbout | 0:ea44dc9ed014 | 121 | |
| joeverbout | 0:ea44dc9ed014 | 122 | CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2, |
| joeverbout | 0:ea44dc9ed014 | 123 | CvMat* new_points1, CvMat* new_points2); |
| joeverbout | 0:ea44dc9ed014 | 124 | |
| joeverbout | 0:ea44dc9ed014 | 125 | |
| joeverbout | 0:ea44dc9ed014 | 126 | /* Computes the optimal new camera matrix according to the free scaling parameter alpha: |
| joeverbout | 0:ea44dc9ed014 | 127 | alpha=0 - only valid pixels will be retained in the undistorted image |
| joeverbout | 0:ea44dc9ed014 | 128 | alpha=1 - all the source image pixels will be retained in the undistorted image |
| joeverbout | 0:ea44dc9ed014 | 129 | */ |
| joeverbout | 0:ea44dc9ed014 | 130 | CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 131 | const CvMat* dist_coeffs, |
| joeverbout | 0:ea44dc9ed014 | 132 | CvSize image_size, double alpha, |
| joeverbout | 0:ea44dc9ed014 | 133 | CvMat* new_camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 134 | CvSize new_imag_size CV_DEFAULT(cvSize(0,0)), |
| joeverbout | 0:ea44dc9ed014 | 135 | CvRect* valid_pixel_ROI CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 136 | int center_principal_point CV_DEFAULT(0)); |
| joeverbout | 0:ea44dc9ed014 | 137 | |
| joeverbout | 0:ea44dc9ed014 | 138 | /* Converts rotation vector to rotation matrix or vice versa */ |
| joeverbout | 0:ea44dc9ed014 | 139 | CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst, |
| joeverbout | 0:ea44dc9ed014 | 140 | CvMat* jacobian CV_DEFAULT(0) ); |
| joeverbout | 0:ea44dc9ed014 | 141 | |
| joeverbout | 0:ea44dc9ed014 | 142 | /* Finds perspective transformation between the object plane and image (view) plane */ |
| joeverbout | 0:ea44dc9ed014 | 143 | CVAPI(int) cvFindHomography( const CvMat* src_points, |
| joeverbout | 0:ea44dc9ed014 | 144 | const CvMat* dst_points, |
| joeverbout | 0:ea44dc9ed014 | 145 | CvMat* homography, |
| joeverbout | 0:ea44dc9ed014 | 146 | int method CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 147 | double ransacReprojThreshold CV_DEFAULT(3), |
| joeverbout | 0:ea44dc9ed014 | 148 | CvMat* mask CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 149 | int maxIters CV_DEFAULT(2000), |
| joeverbout | 0:ea44dc9ed014 | 150 | double confidence CV_DEFAULT(0.995)); |
| joeverbout | 0:ea44dc9ed014 | 151 | |
| joeverbout | 0:ea44dc9ed014 | 152 | /* Computes RQ decomposition for 3x3 matrices */ |
| joeverbout | 0:ea44dc9ed014 | 153 | CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ, |
| joeverbout | 0:ea44dc9ed014 | 154 | CvMat *matrixQx CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 155 | CvMat *matrixQy CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 156 | CvMat *matrixQz CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 157 | CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); |
| joeverbout | 0:ea44dc9ed014 | 158 | |
| joeverbout | 0:ea44dc9ed014 | 159 | /* Computes projection matrix decomposition */ |
| joeverbout | 0:ea44dc9ed014 | 160 | CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr, |
| joeverbout | 0:ea44dc9ed014 | 161 | CvMat *rotMatr, CvMat *posVect, |
| joeverbout | 0:ea44dc9ed014 | 162 | CvMat *rotMatrX CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 163 | CvMat *rotMatrY CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 164 | CvMat *rotMatrZ CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 165 | CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); |
| joeverbout | 0:ea44dc9ed014 | 166 | |
| joeverbout | 0:ea44dc9ed014 | 167 | /* Computes d(AB)/dA and d(AB)/dB */ |
| joeverbout | 0:ea44dc9ed014 | 168 | CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB ); |
| joeverbout | 0:ea44dc9ed014 | 169 | |
| joeverbout | 0:ea44dc9ed014 | 170 | /* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)), |
| joeverbout | 0:ea44dc9ed014 | 171 | t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */ |
| joeverbout | 0:ea44dc9ed014 | 172 | CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1, |
| joeverbout | 0:ea44dc9ed014 | 173 | const CvMat* _rvec2, const CvMat* _tvec2, |
| joeverbout | 0:ea44dc9ed014 | 174 | CvMat* _rvec3, CvMat* _tvec3, |
| joeverbout | 0:ea44dc9ed014 | 175 | CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 176 | CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 177 | CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 178 | CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) ); |
| joeverbout | 0:ea44dc9ed014 | 179 | |
| joeverbout | 0:ea44dc9ed014 | 180 | /* Projects object points to the view plane using |
| joeverbout | 0:ea44dc9ed014 | 181 | the specified extrinsic and intrinsic camera parameters */ |
| joeverbout | 0:ea44dc9ed014 | 182 | CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector, |
| joeverbout | 0:ea44dc9ed014 | 183 | const CvMat* translation_vector, const CvMat* camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 184 | const CvMat* distortion_coeffs, CvMat* image_points, |
| joeverbout | 0:ea44dc9ed014 | 185 | CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 186 | CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 187 | CvMat* dpddist CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 188 | double aspect_ratio CV_DEFAULT(0)); |
| joeverbout | 0:ea44dc9ed014 | 189 | |
| joeverbout | 0:ea44dc9ed014 | 190 | /* Finds extrinsic camera parameters from |
| joeverbout | 0:ea44dc9ed014 | 191 | a few known corresponding point pairs and intrinsic parameters */ |
| joeverbout | 0:ea44dc9ed014 | 192 | CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points, |
| joeverbout | 0:ea44dc9ed014 | 193 | const CvMat* image_points, |
| joeverbout | 0:ea44dc9ed014 | 194 | const CvMat* camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 195 | const CvMat* distortion_coeffs, |
| joeverbout | 0:ea44dc9ed014 | 196 | CvMat* rotation_vector, |
| joeverbout | 0:ea44dc9ed014 | 197 | CvMat* translation_vector, |
| joeverbout | 0:ea44dc9ed014 | 198 | int use_extrinsic_guess CV_DEFAULT(0) ); |
| joeverbout | 0:ea44dc9ed014 | 199 | |
| joeverbout | 0:ea44dc9ed014 | 200 | /* Computes initial estimate of the intrinsic camera parameters |
| joeverbout | 0:ea44dc9ed014 | 201 | in case of planar calibration target (e.g. chessboard) */ |
| joeverbout | 0:ea44dc9ed014 | 202 | CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points, |
| joeverbout | 0:ea44dc9ed014 | 203 | const CvMat* image_points, |
| joeverbout | 0:ea44dc9ed014 | 204 | const CvMat* npoints, CvSize image_size, |
| joeverbout | 0:ea44dc9ed014 | 205 | CvMat* camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 206 | double aspect_ratio CV_DEFAULT(1.) ); |
| joeverbout | 0:ea44dc9ed014 | 207 | |
| joeverbout | 0:ea44dc9ed014 | 208 | #define CV_CALIB_CB_ADAPTIVE_THRESH 1 |
| joeverbout | 0:ea44dc9ed014 | 209 | #define CV_CALIB_CB_NORMALIZE_IMAGE 2 |
| joeverbout | 0:ea44dc9ed014 | 210 | #define CV_CALIB_CB_FILTER_QUADS 4 |
| joeverbout | 0:ea44dc9ed014 | 211 | #define CV_CALIB_CB_FAST_CHECK 8 |
| joeverbout | 0:ea44dc9ed014 | 212 | |
| joeverbout | 0:ea44dc9ed014 | 213 | // Performs a fast check if a chessboard is in the input image. This is a workaround to |
| joeverbout | 0:ea44dc9ed014 | 214 | // a problem of cvFindChessboardCorners being slow on images with no chessboard |
| joeverbout | 0:ea44dc9ed014 | 215 | // - src: input image |
| joeverbout | 0:ea44dc9ed014 | 216 | // - size: chessboard size |
| joeverbout | 0:ea44dc9ed014 | 217 | // Returns 1 if a chessboard can be in this image and findChessboardCorners should be called, |
| joeverbout | 0:ea44dc9ed014 | 218 | // 0 if there is no chessboard, -1 in case of error |
| joeverbout | 0:ea44dc9ed014 | 219 | CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size); |
| joeverbout | 0:ea44dc9ed014 | 220 | |
| joeverbout | 0:ea44dc9ed014 | 221 | /* Detects corners on a chessboard calibration pattern */ |
| joeverbout | 0:ea44dc9ed014 | 222 | CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size, |
| joeverbout | 0:ea44dc9ed014 | 223 | CvPoint2D32f* corners, |
| joeverbout | 0:ea44dc9ed014 | 224 | int* corner_count CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 225 | int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) ); |
| joeverbout | 0:ea44dc9ed014 | 226 | |
| joeverbout | 0:ea44dc9ed014 | 227 | /* Draws individual chessboard corners or the whole chessboard detected */ |
| joeverbout | 0:ea44dc9ed014 | 228 | CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size, |
| joeverbout | 0:ea44dc9ed014 | 229 | CvPoint2D32f* corners, |
| joeverbout | 0:ea44dc9ed014 | 230 | int count, int pattern_was_found ); |
| joeverbout | 0:ea44dc9ed014 | 231 | |
| joeverbout | 0:ea44dc9ed014 | 232 | #define CV_CALIB_USE_INTRINSIC_GUESS 1 |
| joeverbout | 0:ea44dc9ed014 | 233 | #define CV_CALIB_FIX_ASPECT_RATIO 2 |
| joeverbout | 0:ea44dc9ed014 | 234 | #define CV_CALIB_FIX_PRINCIPAL_POINT 4 |
| joeverbout | 0:ea44dc9ed014 | 235 | #define CV_CALIB_ZERO_TANGENT_DIST 8 |
| joeverbout | 0:ea44dc9ed014 | 236 | #define CV_CALIB_FIX_FOCAL_LENGTH 16 |
| joeverbout | 0:ea44dc9ed014 | 237 | #define CV_CALIB_FIX_K1 32 |
| joeverbout | 0:ea44dc9ed014 | 238 | #define CV_CALIB_FIX_K2 64 |
| joeverbout | 0:ea44dc9ed014 | 239 | #define CV_CALIB_FIX_K3 128 |
| joeverbout | 0:ea44dc9ed014 | 240 | #define CV_CALIB_FIX_K4 2048 |
| joeverbout | 0:ea44dc9ed014 | 241 | #define CV_CALIB_FIX_K5 4096 |
| joeverbout | 0:ea44dc9ed014 | 242 | #define CV_CALIB_FIX_K6 8192 |
| joeverbout | 0:ea44dc9ed014 | 243 | #define CV_CALIB_RATIONAL_MODEL 16384 |
| joeverbout | 0:ea44dc9ed014 | 244 | #define CV_CALIB_THIN_PRISM_MODEL 32768 |
| joeverbout | 0:ea44dc9ed014 | 245 | #define CV_CALIB_FIX_S1_S2_S3_S4 65536 |
| joeverbout | 0:ea44dc9ed014 | 246 | #define CV_CALIB_TILTED_MODEL 262144 |
| joeverbout | 0:ea44dc9ed014 | 247 | #define CV_CALIB_FIX_TAUX_TAUY 524288 |
| joeverbout | 0:ea44dc9ed014 | 248 | |
| joeverbout | 0:ea44dc9ed014 | 249 | |
| joeverbout | 0:ea44dc9ed014 | 250 | /* Finds intrinsic and extrinsic camera parameters |
| joeverbout | 0:ea44dc9ed014 | 251 | from a few views of known calibration pattern */ |
| joeverbout | 0:ea44dc9ed014 | 252 | CVAPI(double) cvCalibrateCamera2( const CvMat* object_points, |
| joeverbout | 0:ea44dc9ed014 | 253 | const CvMat* image_points, |
| joeverbout | 0:ea44dc9ed014 | 254 | const CvMat* point_counts, |
| joeverbout | 0:ea44dc9ed014 | 255 | CvSize image_size, |
| joeverbout | 0:ea44dc9ed014 | 256 | CvMat* camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 257 | CvMat* distortion_coeffs, |
| joeverbout | 0:ea44dc9ed014 | 258 | CvMat* rotation_vectors CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 259 | CvMat* translation_vectors CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 260 | int flags CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 261 | CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
| joeverbout | 0:ea44dc9ed014 | 262 | CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) ); |
| joeverbout | 0:ea44dc9ed014 | 263 | |
| joeverbout | 0:ea44dc9ed014 | 264 | /* Computes various useful characteristics of the camera from the data computed by |
| joeverbout | 0:ea44dc9ed014 | 265 | cvCalibrateCamera2 */ |
| joeverbout | 0:ea44dc9ed014 | 266 | CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix, |
| joeverbout | 0:ea44dc9ed014 | 267 | CvSize image_size, |
| joeverbout | 0:ea44dc9ed014 | 268 | double aperture_width CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 269 | double aperture_height CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 270 | double *fovx CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 271 | double *fovy CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 272 | double *focal_length CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 273 | CvPoint2D64f *principal_point CV_DEFAULT(NULL), |
| joeverbout | 0:ea44dc9ed014 | 274 | double *pixel_aspect_ratio CV_DEFAULT(NULL)); |
| joeverbout | 0:ea44dc9ed014 | 275 | |
| joeverbout | 0:ea44dc9ed014 | 276 | #define CV_CALIB_FIX_INTRINSIC 256 |
| joeverbout | 0:ea44dc9ed014 | 277 | #define CV_CALIB_SAME_FOCAL_LENGTH 512 |
| joeverbout | 0:ea44dc9ed014 | 278 | |
| joeverbout | 0:ea44dc9ed014 | 279 | /* Computes the transformation from one camera coordinate system to another one |
| joeverbout | 0:ea44dc9ed014 | 280 | from a few correspondent views of the same calibration target. Optionally, calibrates |
| joeverbout | 0:ea44dc9ed014 | 281 | both cameras */ |
| joeverbout | 0:ea44dc9ed014 | 282 | CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, |
| joeverbout | 0:ea44dc9ed014 | 283 | const CvMat* image_points2, const CvMat* npoints, |
| joeverbout | 0:ea44dc9ed014 | 284 | CvMat* camera_matrix1, CvMat* dist_coeffs1, |
| joeverbout | 0:ea44dc9ed014 | 285 | CvMat* camera_matrix2, CvMat* dist_coeffs2, |
| joeverbout | 0:ea44dc9ed014 | 286 | CvSize image_size, CvMat* R, CvMat* T, |
| joeverbout | 0:ea44dc9ed014 | 287 | CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 288 | int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC), |
| joeverbout | 0:ea44dc9ed014 | 289 | CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
| joeverbout | 0:ea44dc9ed014 | 290 | CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) ); |
| joeverbout | 0:ea44dc9ed014 | 291 | |
| joeverbout | 0:ea44dc9ed014 | 292 | #define CV_CALIB_ZERO_DISPARITY 1024 |
| joeverbout | 0:ea44dc9ed014 | 293 | |
| joeverbout | 0:ea44dc9ed014 | 294 | /* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both |
| joeverbout | 0:ea44dc9ed014 | 295 | views parallel (=> to make all the epipolar lines horizontal or vertical) */ |
| joeverbout | 0:ea44dc9ed014 | 296 | CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2, |
| joeverbout | 0:ea44dc9ed014 | 297 | const CvMat* dist_coeffs1, const CvMat* dist_coeffs2, |
| joeverbout | 0:ea44dc9ed014 | 298 | CvSize image_size, const CvMat* R, const CvMat* T, |
| joeverbout | 0:ea44dc9ed014 | 299 | CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2, |
| joeverbout | 0:ea44dc9ed014 | 300 | CvMat* Q CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 301 | int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY), |
| joeverbout | 0:ea44dc9ed014 | 302 | double alpha CV_DEFAULT(-1), |
| joeverbout | 0:ea44dc9ed014 | 303 | CvSize new_image_size CV_DEFAULT(cvSize(0,0)), |
| joeverbout | 0:ea44dc9ed014 | 304 | CvRect* valid_pix_ROI1 CV_DEFAULT(0), |
| joeverbout | 0:ea44dc9ed014 | 305 | CvRect* valid_pix_ROI2 CV_DEFAULT(0)); |
| joeverbout | 0:ea44dc9ed014 | 306 | |
| joeverbout | 0:ea44dc9ed014 | 307 | /* Computes rectification transformations for uncalibrated pair of images using a set |
| joeverbout | 0:ea44dc9ed014 | 308 | of point correspondences */ |
| joeverbout | 0:ea44dc9ed014 | 309 | CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2, |
| joeverbout | 0:ea44dc9ed014 | 310 | const CvMat* F, CvSize img_size, |
| joeverbout | 0:ea44dc9ed014 | 311 | CvMat* H1, CvMat* H2, |
| joeverbout | 0:ea44dc9ed014 | 312 | double threshold CV_DEFAULT(5)); |
| joeverbout | 0:ea44dc9ed014 | 313 | |
| joeverbout | 0:ea44dc9ed014 | 314 | |
| joeverbout | 0:ea44dc9ed014 | 315 | |
| joeverbout | 0:ea44dc9ed014 | 316 | /* stereo correspondence parameters and functions */ |
| joeverbout | 0:ea44dc9ed014 | 317 | |
| joeverbout | 0:ea44dc9ed014 | 318 | #define CV_STEREO_BM_NORMALIZED_RESPONSE 0 |
| joeverbout | 0:ea44dc9ed014 | 319 | #define CV_STEREO_BM_XSOBEL 1 |
| joeverbout | 0:ea44dc9ed014 | 320 | |
| joeverbout | 0:ea44dc9ed014 | 321 | /* Block matching algorithm structure */ |
| joeverbout | 0:ea44dc9ed014 | 322 | typedef struct CvStereoBMState |
| joeverbout | 0:ea44dc9ed014 | 323 | { |
| joeverbout | 0:ea44dc9ed014 | 324 | // pre-filtering (normalization of input images) |
| joeverbout | 0:ea44dc9ed014 | 325 | int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now |
| joeverbout | 0:ea44dc9ed014 | 326 | int preFilterSize; // averaging window size: ~5x5..21x21 |
| joeverbout | 0:ea44dc9ed014 | 327 | int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap] |
| joeverbout | 0:ea44dc9ed014 | 328 | |
| joeverbout | 0:ea44dc9ed014 | 329 | // correspondence using Sum of Absolute Difference (SAD) |
| joeverbout | 0:ea44dc9ed014 | 330 | int SADWindowSize; // ~5x5..21x21 |
| joeverbout | 0:ea44dc9ed014 | 331 | int minDisparity; // minimum disparity (can be negative) |
| joeverbout | 0:ea44dc9ed014 | 332 | int numberOfDisparities; // maximum disparity - minimum disparity (> 0) |
| joeverbout | 0:ea44dc9ed014 | 333 | |
| joeverbout | 0:ea44dc9ed014 | 334 | // post-filtering |
| joeverbout | 0:ea44dc9ed014 | 335 | int textureThreshold; // the disparity is only computed for pixels |
| joeverbout | 0:ea44dc9ed014 | 336 | // with textured enough neighborhood |
| joeverbout | 0:ea44dc9ed014 | 337 | int uniquenessRatio; // accept the computed disparity d* only if |
| joeverbout | 0:ea44dc9ed014 | 338 | // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.) |
| joeverbout | 0:ea44dc9ed014 | 339 | // for any d != d*+/-1 within the search range. |
| joeverbout | 0:ea44dc9ed014 | 340 | int speckleWindowSize; // disparity variation window |
| joeverbout | 0:ea44dc9ed014 | 341 | int speckleRange; // acceptable range of variation in window |
| joeverbout | 0:ea44dc9ed014 | 342 | |
| joeverbout | 0:ea44dc9ed014 | 343 | int trySmallerWindows; // if 1, the results may be more accurate, |
| joeverbout | 0:ea44dc9ed014 | 344 | // at the expense of slower processing |
| joeverbout | 0:ea44dc9ed014 | 345 | CvRect roi1, roi2; |
| joeverbout | 0:ea44dc9ed014 | 346 | int disp12MaxDiff; |
| joeverbout | 0:ea44dc9ed014 | 347 | |
| joeverbout | 0:ea44dc9ed014 | 348 | // temporary buffers |
| joeverbout | 0:ea44dc9ed014 | 349 | CvMat* preFilteredImg0; |
| joeverbout | 0:ea44dc9ed014 | 350 | CvMat* preFilteredImg1; |
| joeverbout | 0:ea44dc9ed014 | 351 | CvMat* slidingSumBuf; |
| joeverbout | 0:ea44dc9ed014 | 352 | CvMat* cost; |
| joeverbout | 0:ea44dc9ed014 | 353 | CvMat* disp; |
| joeverbout | 0:ea44dc9ed014 | 354 | } CvStereoBMState; |
| joeverbout | 0:ea44dc9ed014 | 355 | |
| joeverbout | 0:ea44dc9ed014 | 356 | #define CV_STEREO_BM_BASIC 0 |
| joeverbout | 0:ea44dc9ed014 | 357 | #define CV_STEREO_BM_FISH_EYE 1 |
| joeverbout | 0:ea44dc9ed014 | 358 | #define CV_STEREO_BM_NARROW 2 |
| joeverbout | 0:ea44dc9ed014 | 359 | |
| joeverbout | 0:ea44dc9ed014 | 360 | CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC), |
| joeverbout | 0:ea44dc9ed014 | 361 | int numberOfDisparities CV_DEFAULT(0)); |
| joeverbout | 0:ea44dc9ed014 | 362 | |
| joeverbout | 0:ea44dc9ed014 | 363 | CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state ); |
| joeverbout | 0:ea44dc9ed014 | 364 | |
| joeverbout | 0:ea44dc9ed014 | 365 | CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right, |
| joeverbout | 0:ea44dc9ed014 | 366 | CvArr* disparity, CvStereoBMState* state ); |
| joeverbout | 0:ea44dc9ed014 | 367 | |
| joeverbout | 0:ea44dc9ed014 | 368 | CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity, |
| joeverbout | 0:ea44dc9ed014 | 369 | int numberOfDisparities, int SADWindowSize ); |
| joeverbout | 0:ea44dc9ed014 | 370 | |
| joeverbout | 0:ea44dc9ed014 | 371 | CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost, |
| joeverbout | 0:ea44dc9ed014 | 372 | int minDisparity, int numberOfDisparities, |
| joeverbout | 0:ea44dc9ed014 | 373 | int disp12MaxDiff CV_DEFAULT(1) ); |
| joeverbout | 0:ea44dc9ed014 | 374 | |
| joeverbout | 0:ea44dc9ed014 | 375 | /* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */ |
| joeverbout | 0:ea44dc9ed014 | 376 | CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage, |
| joeverbout | 0:ea44dc9ed014 | 377 | CvArr* _3dImage, const CvMat* Q, |
| joeverbout | 0:ea44dc9ed014 | 378 | int handleMissingValues CV_DEFAULT(0) ); |
| joeverbout | 0:ea44dc9ed014 | 379 | |
| joeverbout | 0:ea44dc9ed014 | 380 | /** @} calib3d_c */ |
| joeverbout | 0:ea44dc9ed014 | 381 | |
| joeverbout | 0:ea44dc9ed014 | 382 | #ifdef __cplusplus |
| joeverbout | 0:ea44dc9ed014 | 383 | } // extern "C" |
| joeverbout | 0:ea44dc9ed014 | 384 | |
| joeverbout | 0:ea44dc9ed014 | 385 | ////////////////////////////////////////////////////////////////////////////////////////// |
| joeverbout | 0:ea44dc9ed014 | 386 | class CV_EXPORTS CvLevMarq |
| joeverbout | 0:ea44dc9ed014 | 387 | { |
| joeverbout | 0:ea44dc9ed014 | 388 | public: |
| joeverbout | 0:ea44dc9ed014 | 389 | CvLevMarq(); |
| joeverbout | 0:ea44dc9ed014 | 390 | CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria= |
| joeverbout | 0:ea44dc9ed014 | 391 | cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
| joeverbout | 0:ea44dc9ed014 | 392 | bool completeSymmFlag=false ); |
| joeverbout | 0:ea44dc9ed014 | 393 | ~CvLevMarq(); |
| joeverbout | 0:ea44dc9ed014 | 394 | void init( int nparams, int nerrs, CvTermCriteria criteria= |
| joeverbout | 0:ea44dc9ed014 | 395 | cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON), |
| joeverbout | 0:ea44dc9ed014 | 396 | bool completeSymmFlag=false ); |
| joeverbout | 0:ea44dc9ed014 | 397 | bool update( const CvMat*& param, CvMat*& J, CvMat*& err ); |
| joeverbout | 0:ea44dc9ed014 | 398 | bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm ); |
| joeverbout | 0:ea44dc9ed014 | 399 | |
| joeverbout | 0:ea44dc9ed014 | 400 | void clear(); |
| joeverbout | 0:ea44dc9ed014 | 401 | void step(); |
| joeverbout | 0:ea44dc9ed014 | 402 | enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 }; |
| joeverbout | 0:ea44dc9ed014 | 403 | |
| joeverbout | 0:ea44dc9ed014 | 404 | cv::Ptr<CvMat> mask; |
| joeverbout | 0:ea44dc9ed014 | 405 | cv::Ptr<CvMat> prevParam; |
| joeverbout | 0:ea44dc9ed014 | 406 | cv::Ptr<CvMat> param; |
| joeverbout | 0:ea44dc9ed014 | 407 | cv::Ptr<CvMat> J; |
| joeverbout | 0:ea44dc9ed014 | 408 | cv::Ptr<CvMat> err; |
| joeverbout | 0:ea44dc9ed014 | 409 | cv::Ptr<CvMat> JtJ; |
| joeverbout | 0:ea44dc9ed014 | 410 | cv::Ptr<CvMat> JtJN; |
| joeverbout | 0:ea44dc9ed014 | 411 | cv::Ptr<CvMat> JtErr; |
| joeverbout | 0:ea44dc9ed014 | 412 | cv::Ptr<CvMat> JtJV; |
| joeverbout | 0:ea44dc9ed014 | 413 | cv::Ptr<CvMat> JtJW; |
| joeverbout | 0:ea44dc9ed014 | 414 | double prevErrNorm, errNorm; |
| joeverbout | 0:ea44dc9ed014 | 415 | int lambdaLg10; |
| joeverbout | 0:ea44dc9ed014 | 416 | CvTermCriteria criteria; |
| joeverbout | 0:ea44dc9ed014 | 417 | int state; |
| joeverbout | 0:ea44dc9ed014 | 418 | int iters; |
| joeverbout | 0:ea44dc9ed014 | 419 | bool completeSymmFlag; |
| joeverbout | 0:ea44dc9ed014 | 420 | int solveMethod; |
| joeverbout | 0:ea44dc9ed014 | 421 | }; |
| joeverbout | 0:ea44dc9ed014 | 422 | |
| joeverbout | 0:ea44dc9ed014 | 423 | #endif |
| joeverbout | 0:ea44dc9ed014 | 424 | |
| joeverbout | 0:ea44dc9ed014 | 425 | #endif /* __OPENCV_CALIB3D_C_H__ */ |
| joeverbout | 0:ea44dc9ed014 | 426 |