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Open Source Computer Vision Library
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89 lines
3.0 KiB
89 lines
3.0 KiB
10 years ago
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#ifndef UPNP_H_
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#define UPNP_H_
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#include "precomp.hpp"
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#include "opencv2/core/core_c.h"
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#include <iostream>
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using namespace std;
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class upnp
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{
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public:
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upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
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~upnp();
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void compute_pose(cv::Mat& R, cv::Mat& t);
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private:
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template <typename T>
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void init_camera_parameters(const cv::Mat& cameraMatrix)
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{
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uc = cameraMatrix.at<T> (0, 2);
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vc = cameraMatrix.at<T> (1, 2);
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fu = 1;
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fv = 1;
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}
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template <typename OpointType, typename IpointType>
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void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
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{
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for(int i = 0; i < number_of_correspondences; i++)
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{
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pws[3 * i ] = opoints.at<OpointType>(0,i).x;
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pws[3 * i + 1] = opoints.at<OpointType>(0,i).y;
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pws[3 * i + 2] = opoints.at<OpointType>(0,i).z;
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us[2 * i ] = ipoints.at<IpointType>(0,i).x;
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us[2 * i + 1] = ipoints.at<IpointType>(0,i).y;
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}
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}
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double reprojection_error(const double R[3][3], const double t[3]);
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void choose_control_points();
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void compute_alphas();
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void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
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void compute_ccs(const double * betas, const double * f, const double * ut);
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void compute_pcs(void);
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void solve_for_sign(void);
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void check_positive_eigenvectors(double * ut);
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void find_betas_and_focal_approx_1(const CvMat * Ut, const CvMat * Rho, double * betas, double * efs);
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void find_betas_and_focal_approx_2(const CvMat * Ut, const CvMat * Rho, double * betas, double * efs);
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void qr_solve(CvMat * A, CvMat * b, CvMat * X);
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cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
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cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
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double dot(const double * v1, const double * v2);
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double dotXY(const double * v1, const double * v2);
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double dotZ(const double * v1, const double * v2);
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double dist2(const double * p1, const double * p2);
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void compute_rho(double * rho);
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void compute_L_6x12(const double * ut, double * l_6x12);
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void gauss_newton(const CvMat * L_6x12, const CvMat * Rho, double current_betas[4], double * efs);
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void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
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const double cb[4], CvMat * A, CvMat * b, double const f);
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double compute_R_and_t(const double * ut, const double * betas, const double * efs,
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double R[3][3], double t[3]);
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void estimate_R_and_t(double R[3][3], double t[3]);
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void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
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double R_src[3][3], double t_src[3]);
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double uc, vc, fu, fv;
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std::vector<double> pws, us, alphas, pcs;
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int number_of_correspondences;
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double cws[4][3], ccs[4][3];
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int max_nr;
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double * A1, * A2;
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};
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#endif // UPNP_H_
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