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423 lines
20 KiB
423 lines
20 KiB
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_CALIB3D_C_H__
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#define __OPENCV_CALIB3D_C_H__
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#include "opencv2/core/core_c.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @addtogroup calib3d_c
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@{
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*/
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/****************************************************************************************\
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* Camera Calibration, Pose Estimation and Stereo *
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\****************************************************************************************/
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typedef struct CvPOSITObject CvPOSITObject;
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/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
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CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
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/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
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an object given its model and projection in a weak-perspective case */
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CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
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double focal_length, CvTermCriteria criteria,
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float* rotation_matrix, float* translation_vector);
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/* Releases CvPOSITObject structure */
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CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
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/* updates the number of RANSAC iterations */
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CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
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int model_points, int max_iters );
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CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
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/* Calculates fundamental matrix given a set of corresponding points */
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#define CV_FM_7POINT 1
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#define CV_FM_8POINT 2
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#define CV_LMEDS 4
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#define CV_RANSAC 8
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#define CV_FM_LMEDS_ONLY CV_LMEDS
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#define CV_FM_RANSAC_ONLY CV_RANSAC
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#define CV_FM_LMEDS CV_LMEDS
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#define CV_FM_RANSAC CV_RANSAC
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enum
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{
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CV_ITERATIVE = 0,
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CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
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CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
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CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
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};
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CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
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CvMat* fundamental_matrix,
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int method CV_DEFAULT(CV_FM_RANSAC),
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double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
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CvMat* status CV_DEFAULT(NULL) );
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/* For each input point on one of images
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computes parameters of the corresponding
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epipolar line on the other image */
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CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
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int which_image,
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const CvMat* fundamental_matrix,
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CvMat* correspondent_lines );
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/* Triangulation functions */
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CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
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CvMat* projPoints1, CvMat* projPoints2,
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CvMat* points4D);
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CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
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CvMat* new_points1, CvMat* new_points2);
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/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
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alpha=0 - only valid pixels will be retained in the undistorted image
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alpha=1 - all the source image pixels will be retained in the undistorted image
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*/
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CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
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const CvMat* dist_coeffs,
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CvSize image_size, double alpha,
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CvMat* new_camera_matrix,
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CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
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CvRect* valid_pixel_ROI CV_DEFAULT(0),
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int center_principal_point CV_DEFAULT(0));
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/* Converts rotation vector to rotation matrix or vice versa */
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CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
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CvMat* jacobian CV_DEFAULT(0) );
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/* Finds perspective transformation between the object plane and image (view) plane */
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CVAPI(int) cvFindHomography( const CvMat* src_points,
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const CvMat* dst_points,
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CvMat* homography,
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int method CV_DEFAULT(0),
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double ransacReprojThreshold CV_DEFAULT(3),
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CvMat* mask CV_DEFAULT(0),
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int maxIters CV_DEFAULT(2000),
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double confidence CV_DEFAULT(0.995));
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/* Computes RQ decomposition for 3x3 matrices */
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CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
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CvMat *matrixQx CV_DEFAULT(NULL),
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CvMat *matrixQy CV_DEFAULT(NULL),
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CvMat *matrixQz CV_DEFAULT(NULL),
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CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
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/* Computes projection matrix decomposition */
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CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
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CvMat *rotMatr, CvMat *posVect,
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CvMat *rotMatrX CV_DEFAULT(NULL),
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CvMat *rotMatrY CV_DEFAULT(NULL),
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CvMat *rotMatrZ CV_DEFAULT(NULL),
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CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
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/* Computes d(AB)/dA and d(AB)/dB */
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CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
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/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
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t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
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CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
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const CvMat* _rvec2, const CvMat* _tvec2,
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CvMat* _rvec3, CvMat* _tvec3,
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CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
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CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
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CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
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CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
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/* Projects object points to the view plane using
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the specified extrinsic and intrinsic camera parameters */
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CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
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const CvMat* translation_vector, const CvMat* camera_matrix,
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const CvMat* distortion_coeffs, CvMat* image_points,
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CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
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CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
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CvMat* dpddist CV_DEFAULT(NULL),
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double aspect_ratio CV_DEFAULT(0));
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/* Finds extrinsic camera parameters from
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a few known corresponding point pairs and intrinsic parameters */
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CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
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const CvMat* image_points,
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const CvMat* camera_matrix,
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const CvMat* distortion_coeffs,
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CvMat* rotation_vector,
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CvMat* translation_vector,
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int use_extrinsic_guess CV_DEFAULT(0) );
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/* Computes initial estimate of the intrinsic camera parameters
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in case of planar calibration target (e.g. chessboard) */
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CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
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const CvMat* image_points,
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const CvMat* npoints, CvSize image_size,
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CvMat* camera_matrix,
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double aspect_ratio CV_DEFAULT(1.) );
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#define CV_CALIB_CB_ADAPTIVE_THRESH 1
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#define CV_CALIB_CB_NORMALIZE_IMAGE 2
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#define CV_CALIB_CB_FILTER_QUADS 4
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#define CV_CALIB_CB_FAST_CHECK 8
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// Performs a fast check if a chessboard is in the input image. This is a workaround to
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// a problem of cvFindChessboardCorners being slow on images with no chessboard
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// - src: input image
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// - size: chessboard size
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// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
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// 0 if there is no chessboard, -1 in case of error
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CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
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/* Detects corners on a chessboard calibration pattern */
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CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
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CvPoint2D32f* corners,
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int* corner_count CV_DEFAULT(NULL),
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int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
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/* Draws individual chessboard corners or the whole chessboard detected */
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CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
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CvPoint2D32f* corners,
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int count, int pattern_was_found );
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#define CV_CALIB_USE_INTRINSIC_GUESS 1
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#define CV_CALIB_FIX_ASPECT_RATIO 2
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#define CV_CALIB_FIX_PRINCIPAL_POINT 4
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#define CV_CALIB_ZERO_TANGENT_DIST 8
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#define CV_CALIB_FIX_FOCAL_LENGTH 16
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#define CV_CALIB_FIX_K1 32
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#define CV_CALIB_FIX_K2 64
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#define CV_CALIB_FIX_K3 128
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#define CV_CALIB_FIX_K4 2048
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#define CV_CALIB_FIX_K5 4096
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#define CV_CALIB_FIX_K6 8192
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#define CV_CALIB_RATIONAL_MODEL 16384
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#define CV_CALIB_THIN_PRISM_MODEL 32768
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#define CV_CALIB_FIX_S1_S2_S3_S4 65536
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/* Finds intrinsic and extrinsic camera parameters
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from a few views of known calibration pattern */
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CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
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const CvMat* image_points,
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const CvMat* point_counts,
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CvSize image_size,
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CvMat* camera_matrix,
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CvMat* distortion_coeffs,
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CvMat* rotation_vectors CV_DEFAULT(NULL),
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CvMat* translation_vectors CV_DEFAULT(NULL),
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int flags CV_DEFAULT(0),
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
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/* Computes various useful characteristics of the camera from the data computed by
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cvCalibrateCamera2 */
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CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
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CvSize image_size,
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double aperture_width CV_DEFAULT(0),
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double aperture_height CV_DEFAULT(0),
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double *fovx CV_DEFAULT(NULL),
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double *fovy CV_DEFAULT(NULL),
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double *focal_length CV_DEFAULT(NULL),
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CvPoint2D64f *principal_point CV_DEFAULT(NULL),
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double *pixel_aspect_ratio CV_DEFAULT(NULL));
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#define CV_CALIB_FIX_INTRINSIC 256
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#define CV_CALIB_SAME_FOCAL_LENGTH 512
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/* Computes the transformation from one camera coordinate system to another one
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from a few correspondent views of the same calibration target. Optionally, calibrates
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both cameras */
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CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
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const CvMat* image_points2, const CvMat* npoints,
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CvMat* camera_matrix1, CvMat* dist_coeffs1,
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CvMat* camera_matrix2, CvMat* dist_coeffs2,
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CvSize image_size, CvMat* R, CvMat* T,
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CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
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int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
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#define CV_CALIB_ZERO_DISPARITY 1024
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/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
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views parallel (=> to make all the epipolar lines horizontal or vertical) */
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CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
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const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
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CvSize image_size, const CvMat* R, const CvMat* T,
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CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
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CvMat* Q CV_DEFAULT(0),
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int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
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double alpha CV_DEFAULT(-1),
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CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
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CvRect* valid_pix_ROI1 CV_DEFAULT(0),
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CvRect* valid_pix_ROI2 CV_DEFAULT(0));
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/* Computes rectification transformations for uncalibrated pair of images using a set
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of point correspondences */
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CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
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const CvMat* F, CvSize img_size,
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CvMat* H1, CvMat* H2,
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double threshold CV_DEFAULT(5));
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/* stereo correspondence parameters and functions */
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#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
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#define CV_STEREO_BM_XSOBEL 1
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/* Block matching algorithm structure */
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typedef struct CvStereoBMState
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{
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// pre-filtering (normalization of input images)
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int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
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int preFilterSize; // averaging window size: ~5x5..21x21
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int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
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// correspondence using Sum of Absolute Difference (SAD)
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int SADWindowSize; // ~5x5..21x21
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int minDisparity; // minimum disparity (can be negative)
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int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
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// post-filtering
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int textureThreshold; // the disparity is only computed for pixels
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// with textured enough neighborhood
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int uniquenessRatio; // accept the computed disparity d* only if
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// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
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// for any d != d*+/-1 within the search range.
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int speckleWindowSize; // disparity variation window
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int speckleRange; // acceptable range of variation in window
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int trySmallerWindows; // if 1, the results may be more accurate,
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// at the expense of slower processing
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CvRect roi1, roi2;
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int disp12MaxDiff;
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// temporary buffers
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CvMat* preFilteredImg0;
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CvMat* preFilteredImg1;
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CvMat* slidingSumBuf;
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CvMat* cost;
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CvMat* disp;
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} CvStereoBMState;
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#define CV_STEREO_BM_BASIC 0
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#define CV_STEREO_BM_FISH_EYE 1
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#define CV_STEREO_BM_NARROW 2
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CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
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int numberOfDisparities CV_DEFAULT(0));
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CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
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CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
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CvArr* disparity, CvStereoBMState* state );
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CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
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int numberOfDisparities, int SADWindowSize );
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CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
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int minDisparity, int numberOfDisparities,
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int disp12MaxDiff CV_DEFAULT(1) );
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/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
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CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
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CvArr* _3dImage, const CvMat* Q,
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int handleMissingValues CV_DEFAULT(0) );
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/** @} calib3d_c */
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#ifdef __cplusplus
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} // extern "C"
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//////////////////////////////////////////////////////////////////////////////////////////
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class CV_EXPORTS CvLevMarq
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{
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public:
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CvLevMarq();
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CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
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cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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~CvLevMarq();
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void init( int nparams, int nerrs, CvTermCriteria criteria=
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cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
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bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
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void clear();
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void step();
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enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
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cv::Ptr<CvMat> mask;
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cv::Ptr<CvMat> prevParam;
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cv::Ptr<CvMat> param;
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cv::Ptr<CvMat> J;
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cv::Ptr<CvMat> err;
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cv::Ptr<CvMat> JtJ;
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cv::Ptr<CvMat> JtJN;
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cv::Ptr<CvMat> JtErr;
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cv::Ptr<CvMat> JtJV;
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cv::Ptr<CvMat> JtJW;
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double prevErrNorm, errNorm;
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int lambdaLg10;
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CvTermCriteria criteria;
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int state;
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int iters;
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bool completeSymmFlag;
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};
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#endif
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#endif /* __OPENCV_CALIB3D_C_H__ */
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