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Open Source Computer Vision Library
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150 lines
5.2 KiB
150 lines
5.2 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/types_c.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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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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#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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#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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#define CV_CALIB_TILTED_MODEL 262144 |
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#define CV_CALIB_FIX_TAUX_TAUY 524288 |
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#define CV_CALIB_FIX_TANGENT_DIST 2097152 |
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#define CV_CALIB_NINTRINSIC 18 |
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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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#define CV_CALIB_ZERO_DISPARITY 1024 |
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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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#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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int solveMethod; |
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}; |
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#endif |
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#endif /* OPENCV_CALIB3D_C_H */
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