mirror of https://github.com/opencv/opencv.git
Andrey Kamaev
12 years ago
parent
199a35a105
commit
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70 changed files with 833 additions and 789 deletions
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/*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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/****************************************************************************************\
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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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}; |
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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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/* 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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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( |
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)), |
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int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC)); |
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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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#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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